Remote operation system
First Claim
1. A remote operation system comprising:
- a moving body; and
a remote operation apparatus,wherein the moving body includes;
a camera configured to capture an image of the front of the moving body;
an environment sensor configured to measure the distance from the moving body to a surrounding obstacle;
a movement speed detection unit configured to measure the movement speed and the turning speed of the moving body; and
a wireless device,wherein the remote operation apparatus includes;
a monitor configured to display an image from the camera;
a calculating machine; and
a wireless device,wherein information is transmitted and received between the wireless device of the moving body and the wireless device of the remote operation apparatus, andwherein the calculating machine includes;
a database in which image information regarding an obstacle and a moving body model are recorded;
an obstacle motion estimation unit configured to recognize an obstacle captured in the image from the camera and a moving body model for the obstacle, based on information from the environment sensor, the image from the camera, and information in the database, and to estimate the position of the obstacle after a set amount of time elapses;
an estimated image generation unit configured to generate a background image after the set amount of time elapses, based on the movement speed and the turning speed of the moving body, the background image being obtained by removing an image of the obstacle from the image from the camera; and
an image output unit configured to synthesize an image after the predetermined set amount of time elapses, based on outputs from the estimated image generation unit and the obstacle motion estimation unit.
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Accused Products
Abstract
When a moving body is remotely operated, a delay in transmission of an image and information acquired from the moving body becomes a problem since immediate transmission of an operation to the moving body cannot be expected. When a frame rate is decreased or a resolution is reduced to decrease the amount of image data to prevent transmission delay of the image data, it is difficult to grasp motions of other moving bodies. As a result, when a certain amount of time is required to transmit a camera image and a moving obstacle, the movement of the obstacle and the movement of the moving body are estimated. The estimated image is generated based on a current image, and is presented to an operator via a monitor. Accordingly, it is possible to reduce instability and a risk associated with transmission delay to safely operate the moving body.
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Citations
11 Claims
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1. A remote operation system comprising:
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a moving body; and a remote operation apparatus, wherein the moving body includes; a camera configured to capture an image of the front of the moving body; an environment sensor configured to measure the distance from the moving body to a surrounding obstacle; a movement speed detection unit configured to measure the movement speed and the turning speed of the moving body; and a wireless device, wherein the remote operation apparatus includes; a monitor configured to display an image from the camera; a calculating machine; and a wireless device, wherein information is transmitted and received between the wireless device of the moving body and the wireless device of the remote operation apparatus, and wherein the calculating machine includes; a database in which image information regarding an obstacle and a moving body model are recorded; an obstacle motion estimation unit configured to recognize an obstacle captured in the image from the camera and a moving body model for the obstacle, based on information from the environment sensor, the image from the camera, and information in the database, and to estimate the position of the obstacle after a set amount of time elapses; an estimated image generation unit configured to generate a background image after the set amount of time elapses, based on the movement speed and the turning speed of the moving body, the background image being obtained by removing an image of the obstacle from the image from the camera; and an image output unit configured to synthesize an image after the predetermined set amount of time elapses, based on outputs from the estimated image generation unit and the obstacle motion estimation unit. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A remote operation system comprising:
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a moving body; and a remote operation apparatus, wherein the moving body includes; a camera configured to capture an image of the front of the moving body; an environment sensor configured to measure the distance from the moving body to a surrounding obstacle; a control device; a wireless device; wheels; and a wheel drive device configured to drive the wheels, wherein the remote operation apparatus includes; a monitor configured to display an image from the camera in the moving body; a calculating machine; and a wireless device, wherein information is transmitted and received between the wireless device of the moving body and the wireless device of the remote operation apparatus, wherein the control device has a movement speed detection unit configured to measure the movement speed and the turning angular speed of the moving body based on information from the wheel drive device, and wherein the calculating machine includes; a database in which image information regarding an obstacle and a moving body model are recorded; an obstacle motion estimation unit configured to recognize an obstacle captured in the image from the camera and a moving body model for the obstacle, based on information from the environment sensor, the image from the camera, and information in the database, and to estimate the position of the obstacle after a set amount of time elapses; an estimated image generation unit configured to generate a background image when the set amount of time elapses, based on the movement speed and the turning angular speed of the moving body, the background image being obtained by removing an image of the obstacle from the image from the camera; and an image output unit configured to synthesize an image after the predetermined set amount of time elapses, based on outputs from the estimated image generation unit and the obstacle motion estimation unit. - View Dependent Claims (8, 9, 10, 11)
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Specification