JP7797989B2 - Information processing device, information processing method, and program - Google Patents

Description

The present invention relates to an information processing device, an information processing method, and a program.

In recent years, with the development of communication networks, it has become common to remotely control devices such as robots or manipulators located in remote locations.

However, communication networks cause communication delays, so it is important to take communication delays into consideration when remote control, which places importance on real-time performance. Therefore, various technologies are being considered for remote control to reduce the loss of controllability caused by communication delays.

For example, Patent Document 1 below discloses a technology for compensating for communication delays based on estimated communication disturbances in bilateral control that presents tactile and force information acting on the control end of a manipulator located in a remote location to an operator. Furthermore, Patent Document 2 below discloses a similar bilateral control technology that dynamically changes control parameters on the manipulator side or the operator side depending on the state of the communication network.

WO 2006/046500 Japanese Patent Application Laid-Open No. 2008-119757

However, the technologies disclosed in Patent Documents 1 and 2 address communication delays when presenting the contact reaction force between the manipulator and an object to the operator. Therefore, with the technologies disclosed in Patent Documents 1 and 2, it is difficult to improve the degradation of controllability caused by communication delays when remotely controlling a moving object or other object with speed.

The present invention was made in consideration of the above-mentioned problems, and its object is to provide a new and improved information processing device, information processing method, and program that can suppress a decrease in the maneuverability of a remotely controlled moving object.

In order to solve the above problem, one aspect of the present invention provides an information processing device comprising: a command value control unit that controls a speed command for the movement of a mobile object located in a remote location based on an operation input to a control unit by an operator; and a reaction force control unit that controls a reaction force applied to the control unit in response to the operation input based on the difference between the speed indicated by the speed command and the actual speed of the mobile object.

The control unit may have three or more rotatable shafts and a handle that is grasped by the operator and can be moved with three or more degrees of freedom by the three or more rotation shafts, and a reaction force to the operation input may be applied to the handle.

The steering unit may use the attitude of the handle at the time an input is made to start steering the moving object as the steering starting point, and the reaction force may act to return the handle to the steering starting point.

The reaction force control unit may control the reaction force so that the greater the difference between the speed indicated by the speed command and the actual speed of the moving object, the greater the reaction force to the operation input.

An upper limit may be set on the absolute value of the reaction force.

The speed command may be transmitted to the mobile unit via a network.

The operator may be presented with an image captured by an imaging device mounted on the moving object and transmitted via the network.

Communication delays may occur when sending and receiving data via the network.

In order to solve the above problem, according to another aspect of the present invention, there is provided an information processing method including the steps of: controlling, by a computing device, a speed command for the movement of a mobile object located in a remote location based on an operation input to a control unit by an operator; and controlling a reaction force applied to the control unit in response to the operation input based on the difference between the speed indicated by the speed command and the actual speed of the mobile object.

In order to solve the above-mentioned problems, according to another aspect of the present invention, a program is provided that causes a computer to function as a command value control unit that controls a speed command for the movement of a mobile object located in a remote location based on an operation input to a control unit by an operator, and a reaction force control unit that controls a reaction force applied to the control unit in response to the operation input based on the difference between the speed indicated by the speed command and the actual speed of the mobile object.

As described above, the present invention makes it possible to suppress a decrease in the maneuverability of a remotely controlled mobile object.

1 is a schematic diagram showing the overall configuration of a remote control system according to an embodiment of the present invention; FIG. 2 is a schematic diagram showing a specific configuration of a moving body. FIG. 2 is a schematic diagram showing a specific configuration of a moving body. FIG. 2 is a schematic diagram showing a specific configuration of a control device. FIG. 2 is a block diagram showing the functional configuration of a mobile object and an information processing device. 3 is a block diagram showing processing executed by a command value control unit and a reaction force control unit of the information processing device. FIG. FIG. 10 is a graph showing the forward movement amount of a moving object when a reaction force caused by a communication delay is taken into consideration. FIG. 10 is a graph showing the forward movement amount of a moving object when a reaction force caused by a communication delay is not taken into consideration. FIG. 10 is a block diagram showing processes executed by a command value control unit and a reaction force control unit of an information processing device according to a modified example.

Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Note that in this specification and drawings, components having substantially the same functional configuration will be designated by the same reference numerals, and redundant explanations will be omitted.

<1. Remote Control System>
First, the overall configuration of a remote control system according to one embodiment of the present invention will be described with reference to Figures 1 to 4. Figure 1 is a schematic diagram showing the overall configuration of a remote control system according to this embodiment. Figures 2 and 3 are schematic diagrams showing the specific configuration of a moving body 1. Figure 4 is a schematic diagram showing the specific configuration of a control device 30.

As shown in FIG. 1, the remote control system comprises a mobile object 1, an information processing device 20, a display device 21, and a control device 30. The mobile object 1 and the information processing device 20 are located in remote locations and are communicatively connected to each other via a network 40. This allows an operator (not shown) to remotely control the mobile object 1 located in a remote location by operating the control device 30 while visually viewing the images and information displayed on the display device 21.

The mobile body 1 is a robotic device equipped with a movement mechanism and moves based on operation inputs input to the control device 30. The mobile body 1 may be connected to a network 40 via, for example, wireless communication. For example, as shown in Figures 2 and 3, the mobile body 1 may be a robotic device equipped with a movement mechanism 11 and imaging devices 12a, 12b, 12c, and 12d.

The moving mechanism 11 is a mechanism that is driven by power and can move the moving body 1 to any location. The moving mechanism 11 may be two or more wheels, two or more legs, two or more leg-wheels, caterpillar tracks, or air levitation. Furthermore, the moving mechanism 11 may be a mechanism capable of flying in the air, such as a fixed-wing or rotary-wing mechanism.

Imaging devices 12a, 12b, 12c, and 12d are mounted on the front, rear, left, and right sides of mobile unit 1 and are cameras that capture images of the environment around mobile unit 1. Imaging devices 12a, 12b, 12c, and 12d may be wide-angle fisheye cameras with a viewing angle of nearly 180°. Images captured by imaging devices 12a, 12b, 12c, and 12d are transmitted to information processing device 20 via network 40 and displayed on display device 21. This allows an operator to visually view the images displayed on display device 21 to grasp the state of the environment around mobile unit 1 and monitor the state of mobile unit 1.

The information processing device 20 controls the input and output of information between the mobile body 1 and the operator by controlling the input and output of the display device 21 and the control device 30. Specifically, the information processing device 20 can present the images and information received from the mobile body 1 to the operator by generating images to be displayed on the display device 21 based on images and information received from the mobile body 1 via the network 40. In addition, the information processing device 20 can transmit remote control from the operator to the mobile body 1 by generating movement commands for the mobile body 1 based on operation input entered by the operator into the control device 30.

The display device 21 is an image display device that displays images generated by the information processing device 20. The display device 21 may be, for example, a CRT (Cathode Ray Tube) display device, a Liquid Crystal Display (LCD) device, or an OLED (Organic Light Emitting Diode) device. The display device 21 displays images generated based on images and information received from the mobile object 1.

The control device 30 is an input device through which an operator operates and inputs movement instructions to the moving body 1. The control device 30 may be composed of an input means such as a button, switch, lever, or handle, and an input control circuit that generates a signal based on the input to the input means.

As shown in Figure 4, the control device 30 includes rotational axes 32a, 32b, and 32c that can be driven by a drive unit (not shown), and a handle 31 that can be operated with three degrees of freedom by the rotational axes 32a, 32b, and 32c. The handle 31 is grasped by an operator and moved in the x, y, and z directions.

The information processing device 20 detects the angles of each of the rotation axes 32a, 32b, and 32c using an encoder (not shown), and can calculate the amount of movement of the handle 31 in the x, y, and z directions from the detected angles. This allows the information processing device 20 to obtain the movement command from the operator input to the control device 30 as the movement direction and amount of movement of the handle 31. The information processing device 20 may also generate a reaction force of approximately several N in the handle 31 against the operation input, depending on the calculated amount of movement in the x, y, and z directions. This allows the control device 30 to use a spring element to push the position of the handle 31 back to the starting point of operation where no operation input was made, when the operation input from the operator ends.

Network 40 is a communication network connected by wire or wirelessly. For example, network 40 may be an Internet communication network, a home LAN (Local Area Network), an in-house LAN, an infrared communication network, a radio wave communication network, or a satellite communication network.

The mobile body 1 and the information processing device 20 transmit and receive data to each other via the network 40. Specifically, the mobile body 1 can transmit, via the network 40, images captured by the imaging devices 12a, 12b, 12c, and 12d mounted on the mobile body 1, information related to the movement of the mobile body 1, information related to the power source of the mobile body 1, and the like to the information processing device 20. In addition, the information processing device 20 can transmit, via the network 40, movement commands generated based on operation input by the operator to the control device 30 to the mobile body 1.

However, when sending and receiving data via the network 40, communication delays occur depending on the amount of data being sent and received and the line speed of the network 40. As a result, a time lag occurs between the actual movement of the mobile object 1 and the operation input to the control device 30 by the operator visually checking the display device 21. In the remote control system of this embodiment, by controlling the reaction force to the operation input to the control device 30, it is possible to suppress excessive operation of the mobile object 1 by the operator, which occurs due to the time lag. With the remote control system of this embodiment, it is possible to suppress a decrease in the maneuverability of the mobile object 1 due to communication delays by suppressing excessive operation of the mobile object 1 due to communication delays.

2. Configuration of information processing device
Next, a specific functional configuration of the above-mentioned mobile object 1 and information processing device 20 will be described with reference to Fig. 5. Fig. 5 is a block diagram showing the functional configuration of the mobile object 1 and information processing device 20.

(Mobile object 1)
As shown in FIG. 5, the mobile object 1 includes a calculation unit 110 , an input/output unit 120 , a communication unit 130 , a storage unit 140 , and a power supply unit 150 .

The input/output unit 120 is a connection interface that inputs and outputs various data between the imaging device 12 (i.e., imaging devices 12a, 12b, 12c, and 12d), movement mechanism 11, and encoder unit 13 and the calculation unit 110. The input/output unit 120 may be, for example, a USB (Universal Serial Bus) port, an IEEE 1394 port, or a SCSI (Small Computer System Interface) port, or may also be an RS-232C port, an optical audio terminal, or an HDMI (registered trademark) (High-Definition Multimedia Interface) port.

The communication unit 130 is a communication interface composed of a communication device for connecting to the network 40. The communication unit 130 may be, for example, a communication card for a wireless LAN (Local Area Network), Wi-Fi (registered trademark), Bluetooth (registered trademark), or WUSB (Wireless USB).

The storage unit 140 is a device for storing data of the mobile object 1. The storage unit 140 may include, for example, a storage medium, a recording device for recording data on the storage medium, a reading device for reading data from the storage medium, and a deletion device for deleting data recorded on the storage medium. The storage unit 140 may store map data of specific bases obtained from the information processing device 20, or may store parameters related to the movement of the mobile object 1.

The power supply unit 150 is the power source for the mobile object 1 and supplies power to each part of the mobile object 1. The power supply unit 150 may include a battery that stores power. The power supply unit 150 may include, for example, a lithium-ion secondary battery.

The calculation unit 110 performs all data processing in the mobile object 1 and controls all operations of the mobile object 1. The calculation unit 110 may perform data processing and operation control of the mobile object 1 through cooperation of a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory). The CPU is an arithmetic processing device that performs calculations and control according to various programs. The ROM stores programs used by the CPU, calculation parameters, etc. The RAM temporarily stores programs used in CPU execution, and parameters that change as appropriate during program execution.

Specifically, the calculation unit 110 includes a drive control unit 111, a communication processing unit 113, a video encoding unit 114, and a battery monitoring unit 115.

The drive control unit 111 drives the moving mechanism 11 to execute the movement command received from the information processing device 20. Specifically, the drive control unit 111 may drive the moving mechanism 11 to move in the direction and at the speed specified by the movement command, based on information about the driving status of the moving mechanism 11 measured by the encoder unit 13.

The video encoding unit 114 compresses the captured images of the surrounding environment of the mobile object 1 obtained from the imaging device 12. The compressed captured images are transmitted to the information processing device 20 via the network 40. The video encoding unit 114 can reduce the data volume of the captured images through compression, thereby reducing communication delays when transmitting the captured images.

The battery monitoring unit 115 monitors the status of the power supply unit 150. Specifically, the battery monitoring unit 115 monitors the status of the power supply unit 150 by acquiring information about the battery included in the power supply unit 150 from the power supply unit 150. For example, the battery monitoring unit 115 may acquire information about the remaining charge of the battery included in the power supply unit 150 or information about error notifications from the power supply unit 150.

The communication processing unit 113 controls communication between the mobile object 1 and the information processing device 20. Specifically, the communication processing unit 113 may transmit to the information processing device 20 a compressed image of the environment surrounding the mobile object 1, information indicating the movement status of the mobile object 1, information regarding the remaining charge of the battery included in the power supply unit 150, and the like. The communication processing unit 113 may also receive a movement command from the information processing device 20 instructing the mobile object 1 to move.

(Information processing device 20)
The information processing device 20 includes a calculation unit 210 , an input/output unit 220 , a communication unit 230 , and a storage unit 240 .

The input/output unit 220 is a connection interface that inputs and outputs various data between the display device 21 and the control device 30 and the calculation unit 210. The input/output unit 120 may be, for example, a USB port, an IEEE 1394 port, or a SCSI port, or may also be an RS-232C port, an optical audio terminal, or an HDMI (registered trademark) port.

The communication unit 230 is a communication interface composed of a communication device for connecting to the network 40. The communication unit 230 may be, for example, a communication card for wireless LAN, Wi-Fi (registered trademark), Bluetooth (registered trademark), or WUSB.

The memory unit 240 is a device for storing data for the information processing device 20. The memory unit 240 may include, for example, a storage medium, a recording device for recording data on the storage medium, a reading device for reading data from the storage medium, and a deletion device for deleting data recorded on the storage medium. The memory unit 240 may store map data for multiple bases, and may also store a log of movement commands executed by the mobile unit 1. Note that map data for a specific base stored in the memory unit 240 may be transmitted to the mobile unit 1 depending on the base at which the mobile unit 1 is located.

The calculation unit 210 performs all data processing in the information processing device 20 and controls all operations of the information processing device 20. The calculation unit 210 may perform data processing and operation control of the information processing device 20 through cooperation between the CPU, ROM, and RAM. The CPU is an arithmetic processing device that performs calculations and control in accordance with various programs. The ROM stores programs used by the CPU, calculation parameters, etc. The RAM temporarily stores programs used in CPU execution, and parameters that change as appropriate during program execution, etc.

Specifically, the calculation unit 210 includes a command value control unit 211, a reaction force control unit 212, a communication processing unit 213, and a video decoding unit 214.

The command value control unit 211 generates a movement command for the mobile object 1 based on operation input to the control device 30 by the operator. Specifically, the command value control unit 211 may generate a movement command for the mobile object 1 based on the direction and amount by which the handle 31 of the control device 30 has moved from the control starting point.

The movement command generated by the command value control unit 211 includes a direction command that indicates the movement direction of the mobile unit 1, and a speed command that indicates the movement speed of the mobile unit 1. Therefore, the command value control unit 211 may generate a speed command that instructs the mobile unit 1 to move at a speed proportional to the amount the handle 31 has moved from the steering starting point. The command value control unit 211 may also generate a direction command that instructs the mobile unit 1 to move in the same direction as the handle 31 has moved from the steering starting point, with the front of the mobile unit 1 being the forward direction.

The starting point of operation of the handle 31 of the control device 30 may be determined by pressing a button or lever (not shown) on the control device 30. Before remotely controlling the vehicle 1, the operator can determine the starting point of operation of the handle 31 by pressing down the button or lever.

The reaction force control unit 212 controls the reaction force acting on the handle 31 of the control device 30. Specifically, when the handle 31 of the control device 30 is moved from the control starting point, the reaction force control unit 212 may generate a reaction force (for example, up to several N) in response to the operation input that corresponds to the amount of movement of the handle 31 from the control starting point. This allows the reaction force control unit 212 to use a spring element to push the position of the handle 31 back to the control starting point when the operation input from the operator is completed. The reaction force control unit 212 can also prevent the operator from suddenly moving the handle 31 too far from the control starting point.

In the information processing device 20 according to this embodiment, the reaction force control unit 212 further controls the reaction force acting on the handle 31 in response to the operation input, based on the difference between the movement speed indicated by the speed command and the actual movement speed of the mobile object 1. Specifically, the reaction force control unit 212 may cause the handle 31 to generate a greater reaction force in response to the operation input, the greater the difference between the movement speed indicated by the speed command and the actual movement speed of the mobile object 1.

A large difference between the travel speed commanded by the speed command and the actual travel speed of the mobile unit 1 means that the travel speed commanded by the operator and the actual travel speed of the mobile unit 1 are deviating due to a time lag caused by communication delays in the network 40. In such a case, the reaction force control unit 212 generates a larger reaction force in the handle 31 in response to the operation input in order to suppress the operation input by the operator to the control device 30. This naturally reduces the operation input by the operator to the control device 30, allowing the reaction force control unit 212 to prevent the operator from unintentionally over-operating the mobile unit 1. Therefore, the information processing device 20 according to this embodiment can suppress a decrease in the maneuverability of the mobile unit 1 by suppressing over-operation of the mobile unit 1 due to communication delays.

The video decoding unit 214 decompresses the compressed image of the environment surrounding the moving body 1 received from the moving body 1, and performs image processing on the decompressed captured image of the environment surrounding the moving body 1 to generate an image to be displayed on the display device 21. Specifically, the video decoding unit 214 may generate a bird's-eye view image of the environment surrounding the moving body 1 from above by performing image processing on the captured image of the environment surrounding the moving body 1. The video decoding unit 214 may also change the viewing direction of the generated bird's-eye view image to any direction based on input from the operator.

The communication processing unit 213 controls communication between the information processing device 20 and the mobile object 1. Specifically, the communication processing unit 213 may transmit to the mobile object 1 a movement command instructing the mobile object 1 to move. The communication processing unit 213 may also receive from the mobile object 1 images captured by the imaging device 12, information indicating the movement status of the mobile object 1, information regarding the remaining charge of the battery included in the power supply unit 150, and the like.

With the above configuration, the information processing device 20 according to this embodiment can suppress over-operation of the mobile object 1 due to communication delays by controlling the reaction force in response to operational input to the control device 30. Therefore, the information processing device 20 according to this embodiment can suppress a decrease in the maneuverability of the mobile object 1 due to communication delays.

3. Operation of Information Processing Device
Next, a specific flow of operations of the information processing device 20 will be described with reference to Fig. 6. Fig. 6 is a block diagram showing the processes executed by the command value control unit 211 and the reaction force control unit 212 of the information processing device 20.

In the remote control system according to this embodiment, the operator first determines the steering starting point for the handle 31 by pressing down a button or lever (not shown) on the control device 30. The operator can then move the handle 31 of the control device 30 in their hands in the forward and backward directions from the steering starting point, thereby moving the mobile unit 1 forward and backward. The operator can also move the handle 31 left and right from the steering starting point to cause the mobile unit 1 to pivot left and right or move translationally.

Specifically, as shown in Fig. 6, the command value control unit 211 derives the movement amount and movement direction of the handle 31 in response to an operation input _fh from the operator, using a forward kinematics model _H1 of the handle 31. Next, the command value control unit 211 converts the movement amount and movement direction of the handle 31 into a command value Vref for the movement direction and movement speed of the mobile object 1 instructed by the operator, using a conversion coefficient _C1 from the movement amount and movement direction of the handle 31 to a command value for the movement direction and movement speed of the mobile object 1. At this time, the reaction force control unit 212 controls a reaction force _ff that is fed back to the operation input _fh applied _to the handle 31, using the movement amount _θ1 of the handle 31 from the steering starting point and a spring reaction force coefficient _Sp of the handle 31. The reaction force _ff that is feedback to the operation input _fh acts on the handle 31 as a spring element for the operation input _fh .

Next, the command values _Vref for the moving direction and moving speed of the moving body 1 instructed by the operator are transmitted to the moving body 1 via the network 40, which causes a communication delay of T ₁ seconds. The moving body 1 controls the driving of the moving mechanism 11 based on the received command values _Vref for the moving direction and moving speed. Here, the moving body 1 may transmit to the information processing device 20 odometry information Odom _msg related to the position and attitude of the moving mechanism 11, the actual moving speed V _msg of the moving body 1, and images captured by the imaging device 12.

Furthermore, the actual moving speed _Vmsg of the moving object 1 is fed back to the reaction force control unit 212 of the information processing device 20 via the network 40, which causes a communication delay of _T2 seconds. The reaction force control unit 212 derives the difference ( _Vref -exp( _{-T1 -T2} )s* _Vmsg ) between the command value _Vref for the moving speed of the moving object 1 instructed by the operator and the actual moving speed _Vmsg of the moving object 1. Note that exp( _{-T1 -T2} )s is a dead time element due to the communication delay of _T1 + _T2 seconds expressed using the Laplace operator s. Next, the reaction force control unit 212 determines the reaction force _fm due to the communication delay by applying a feedback coefficient _C2 to the derived difference. The reaction force _fm due to the communication delay is applied to the steering wheel 31 based on the actuator model _Ahap of the steering wheel 31.

As a result, the operation input _fh by the operator, the reaction force _ff which is feedback to the operation input _fh , and the reaction force _fm caused by communication delay act on the handle 31 of the control device 30. Therefore, the information processing device 20 can apply a reaction force _fm corresponding to the difference between the actual movement speed caused by communication delay and the instructed movement speed to the operation input _fh by the operator.

The function of applying a reaction force to the handle 31 in accordance with the difference between the actual speed and the command speed due to the communication delay may be turned on or off by the operator. Also, the value of the feedback coefficient _C2 may be arbitrarily controlled by the operator.

<4. Effects>
Next, the effects of the information processing device 20 according to this embodiment will be described with reference to Fig. 7 and Fig. 8. Fig. 7 is a graph showing the forward movement amount of the moving object 1 when the reaction force caused by the communication delay is taken into consideration. Fig. 8 is a graph showing the forward movement amount of the moving object 1 when the reaction force caused by the communication delay is not taken into consideration.

The information processing device 20 according to this embodiment can calculate the difference between the movement speed commanded by the operator's operation input and the actual movement speed of the moving object 1 in a short cycle (for example, every 1 ms). Therefore, the information processing device 20 can suppress the operation input in accordance with the magnitude of communication delay by controlling and applying, in a short cycle, a reaction force that pushes the handle 31 of the control device 30, to which the operator has applied operation input, back to the operation starting point.

The operator's operation input _fh is, for example, a trapezoidal waveform pattern that accelerates to 0.2 m/s in 0.5 seconds 0.5 seconds after the start, maintains the speed for 1 second, and then decelerates and stops in 0.5 seconds. Therefore, if the moving body 1 moves according to the operation input, the moving body 1 will move 0.3 m, which is equivalent to the area of the trapezoidal waveform.

For example, as shown in Fig. 7, when a reaction force due to communication delay is generated, the longer the delay time due to communication delay is with respect to the trapezoidal waveform of the operator's operation input _fh (maximum value 2N) in the forward direction, the more the forward movement amount and movement speed of the moving body 1 are suppressed. On the other hand, as shown in Fig. 8, when a reaction force due to communication delay is not generated, the forward movement amount of the moving body 1 is the same with respect to the trapezoidal waveform of the operator's operation input _fh (maximum value 2N) in the forward direction, regardless of the length of the delay time due to communication delay.

Therefore, when an operator remotely controls the moving body 1 while checking the moving position of the moving body 1 on the display device 21, the longer the delay time, the more the moving body 1 will move too far from the target moving position. The information processing device 20 according to this embodiment can suppress the forward movement amount and movement speed of the moving body 1 by using a reaction force caused by communication delays, thereby preventing the moving body 1 from moving too far from the target moving position.

Furthermore, the information processing device 20 can suppress the forward movement amount and movement speed of the mobile unit 1 the greater the communication delay and the greater the difference between the actual movement speed of the mobile unit 1 and the movement speed commanded by the operator through operational input. This allows the information processing device 20 to control the reaction force applied to the handle 31 of the control device 30 so as to eliminate the gap between the movement speed commanded by the operator through operational input and the actual movement speed of the mobile unit 1. Therefore, the information processing device 20 can suppress a decrease in the maneuverability of the mobile unit 1 due to communication delays.

5. Modified Examples
Furthermore, a modified example of the information processing device 20 according to the present embodiment will be described with reference to Fig. 9. Fig. 9 is a block diagram showing the processing executed by the command value control unit 211 and the reaction force control unit 212 of the information processing device 20 according to the modified example.

As shown in FIG. 9 , in the modified example of the information processing device 20, the reaction force control unit 212 applies a feedback coefficient C2 to the difference (V _ref -exp(-T ₁ -T ₂ )s*V _msg ) between the command value V _ref for the moving speed of the moving object 1 instructed by the operator and the actual moving speed V _msg of the moving object ₁ , and then applies a saturation element Lm to the difference.

The saturation element Lm is provided to set an upper limit on the magnitude of the reaction force f _m applied to the handle 31 of the control device 30. Specifically, when the absolute value of the reaction force f _m is greater than a predetermined value, the saturation element Lm limits the absolute value of the reaction force f _m to the predetermined value.

The upper limit of the reaction force f _m set by the saturation element Lm may be changed depending on the moving direction of the moving body 1. For example, the upper limit of the reaction force f _m set by the saturation element Lm may be set lower in the traveling direction of the moving body 1 than in other directions. Furthermore, the upper limit of the reaction force f _m set by the saturation element Lm may be the same regardless of the moving direction of the moving body 1.

In this modified example of the information processing device 20, the magnitude of the reaction force applied to the handle 31 of the control device 30 is limited, thereby suppressing the amount of reduction in the movement speed of the remotely controlled mobile object 1. Therefore, in this modified example of the information processing device 20, it is possible to prevent the movement speed of the mobile object 1 from becoming too slow, thereby maintaining the efficiency of movement by the mobile object 1.

The above describes in detail preferred embodiments of the present invention with reference to the accompanying drawings, but the present invention is not limited to such examples. It is clear that a person with ordinary skill in the technical field to which the present invention pertains can conceive of various modifications or alterations within the scope of the technical ideas set forth in the claims, and it is understood that these also naturally fall within the technical scope of the present invention.

Furthermore, the series of processes performed by the information processing device described in this specification may be implemented using software, hardware, or a combination of software and hardware. The programs that make up the software are stored in advance, for example, on a storage medium (non-transitory media) that is provided inside or outside each device. Then, for example, each program is loaded into RAM when executed by a computer and executed by a processor such as a CPU. Examples of the storage medium include a magnetic disk, optical disk, magneto-optical disk, and flash memory. Furthermore, the computer programs may be distributed, for example, via a network, without using a storage medium.

REFERENCE SIGNS LIST 1 Mobile object 11 Moving mechanism 12 Imaging device 13 Encoder unit 20 Information processing device 21 Display device 30 Control device 31 Handle 40 Network 110 Calculation unit 111 Drive control unit 113 Communication processing unit 114 Video encoding unit 115 Battery monitoring unit 120 Input/output unit 130 Communication unit 140 Storage unit 150 Power supply unit 210 Calculation unit 211 Command value control unit 212 Reaction force control unit 213 Communication processing unit 214 Video decoding unit 220 Input/output unit 230 Communication unit 240 Storage unit

Claims (10)

a command value control unit that controls a speed command for the movement of a moving object located at a remote location based on an operation input to the control unit by an operator;
a reaction force control unit that controls a reaction force applied to the control unit in response to the operation input based on a difference between a speed indicated by the speed command and an actual speed of the moving object;
An information processing device comprising: the operating unit has three or more rotatable rotation shafts, and a handle that is held by the operator and can be moved with three or more degrees of freedom by the three or more rotation shafts;
The information processing apparatus according to claim 1 , wherein a reaction force against the operation input is applied to the handle. the operation unit sets the attitude of the handle at the time when an input to start operating the moving body is made as an operation starting point,
The information processing device according to claim 2 , wherein the reaction force acts to return the steering wheel to the steering starting point. The information processing device according to any one of claims 1 to 3, wherein the reaction force control unit controls the reaction force so that the greater the difference between the speed indicated by the speed command and the actual speed of the moving object, the greater the reaction force to the operation input. The information processing device of claim 4, wherein an upper limit is set on the absolute value of the reaction force. The information processing device described in any one of claims 1 to 3, wherein the speed command is transmitted to the mobile object via a network. The information processing device described in claim 6, wherein the operator is presented with an image captured by an imaging device mounted on the moving object and transmitted via the network. The information processing device of claim 7, wherein communication delays occur when transmitting and receiving data via the network. By the processing unit,
controlling a speed command for movement of a moving object located at a remote location based on an operation input to a control unit by an operator;
controlling a reaction force applied to the control unit in response to the operation input based on a difference between a speed indicated by the speed command and an actual speed of the moving object;
An information processing method, including: Computer,
a command value control unit that controls a speed command for the movement of a moving object located at a remote location based on an operation input to the control unit by an operator;
a reaction force control unit that controls a reaction force applied to the control unit in response to the operation input based on a difference between a speed indicated by the speed command and an actual speed of the moving object;
A program that functions as a