JP2014063411A - Remote control system, control method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a remote control system which can easily set movement details of a mobile device.SOLUTION: A control device (radio communication terminal 20) acquires an image captured by a mobile device (remote operation target device 10), displays the acquired image, detects an arbitrary operation performed on the displayed image, sets a moving range of the mobile device according to the detected operation, and sets movement details of the mobile device on the basis of a content of the detected operation and the set moving range, then transmits the movement details to the mobile device. The mobile device receives the transmitted movement details, and controls its movement on the basis of the received movement details.

Description

  The present invention relates to a remote control system, a control method, and a program for remotely controlling a mobile device including an imaging unit.

  2. Description of the Related Art Conventionally, a remote control system for controlling a moving mobile device by remote operation is known. For example, in Patent Document 1, a plurality of cameras that capture the entire moving range are installed, and the three-dimensional position of the moving device obtained as a result of capturing by these cameras is compared with preset route data. Techniques for remote control systems that can be controlled to move along route data are disclosed.

JP 2010-049443 A

  According to the technique disclosed in Patent Document 1, the current position of a moving mobile device can be accurately controlled, and the position of the mobile device can be transmitted to an area where a GPS (Global Positioning System) radio wave can be received or a reference station. Without being limited to a possible area, it is possible to provide a practical remote control system that has good real-time performance and can be reduced in cost. However, it takes time to separately install a plurality of cameras within the moving range. The camera is only used for monitoring and correcting preset route data. Therefore, there is a lack of intuitive operation in setting the movement contents of the mobile device, and improvement in usability has been desired.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a remote control system, a control method, and a program capable of simply setting the movement content of the mobile device. It is in.

  In order to solve the above-described problem, the present invention provides a remote control system including a mobile device including an imaging unit and a control device that controls the mobile device by remote operation, and the control device includes the imaging device. An acquisition means for acquiring an image captured by the means by receiving from the mobile device, a display means for displaying the image acquired by the acquisition means, and an arbitrary operation on the image displayed by the display means Operation detecting means for detecting the attitude of the control apparatus, attitude detecting means for detecting the attitude of the control apparatus, movement range setting means for setting the movement range of the moving apparatus according to the attitude detected by the attitude detecting means, and the operation The movement content of the mobile device is set based on the content of an arbitrary operation detected by the detection means and the movement range set by the movement range setting means. Moving content setting means, and transmitting means for transmitting the set moving content to the mobile device, the mobile device receiving the moving content transmitted from the transmitting means, and the receiving And a movement control means for controlling the movement of the user based on the contents of the movement.

  According to another aspect of the present invention, there is provided a control method for a remote control system including a mobile device including an imaging unit, and a control device that includes at least a display unit and an operation detection unit and controls the mobile device by remote operation. The control device performs a step of receiving an image captured by the imaging unit of the mobile device, a step of displaying the received image on the display unit, and an arbitrary operation on the image displayed by the display unit. An operation detecting step for detecting, an attitude detecting step for detecting an attitude of the control device, a moving range setting step for setting a moving range of the moving device according to the attitude detected in the attitude detecting step, and the operation The movement of the moving device based on the contents of the arbitrary operation detected in the detection step and the movement range set in the movement range setting step And moving the content setting step of setting a volume, characterized in that it comprises a transmission step of transmitting the set moving content to the mobile device.

  Further, the present invention provides a receiving means for receiving a picture taken by the imaging means of the moving apparatus in a computer of a control apparatus comprising a display means and an operation input means for controlling the moving apparatus provided with the imaging means by remote operation. Display control means for displaying the received image on the display means, operation detection means for detecting any operation to the operation input means for the image displayed by the display control means, and detecting the attitude of the control device Posture detecting means for moving, moving range setting means for setting a moving range of the moving device in accordance with the posture detected by the posture detecting means, contents of an arbitrary operation detected by the operation detecting means, and the moving range setting means Movement content setting means for setting the movement content of the mobile device based on the movement range set by Transmitting means for transmitting to the mobile device, wherein the function as.

  According to the present invention, it is possible to provide a remote control system, a control method, and a program capable of easily setting the movement contents of the mobile device.

It is an image figure of the remote control system which concerns on embodiment of this invention. It is a block diagram which shows the structure of the moving apparatus of the remote control system which concerns on embodiment of this invention. It is a block diagram which shows the structure of the control apparatus of the remote control system which concerns on embodiment of this invention. It is a flowchart which shows operation | movement of the remote control system which concerns on embodiment of this invention. It is the figure quoted in order to demonstrate the relationship between the drawn navigation schedule and navigation range of the remote control system which concerns on embodiment of this invention. It is the figure quoted in order to demonstrate the relationship between the acquired image and navigation schedule setting of the remote control system which concerns on embodiment of this invention.

  Hereinafter, an embodiment for carrying out the present invention (hereinafter simply referred to as an embodiment) will be described in detail with reference to the accompanying drawings.

(Configuration of the embodiment)
As shown in FIG. 1, a remote control system 1 according to this embodiment includes a remotely operated device 10 (moving device) such as a remote control helicopter, and a smartphone that performs control for remotely operating the remotely operated device 10. Wireless communication terminal 20 (control device). The remotely operated device 10 is equipped with a camera (an imaging unit 101 described later) as an imaging unit.

  For example, a link is established between the remote operation device 10 and the wireless communication terminal 20 by wireless conforming to a short-range wireless communication standard such as Wi-Fi (registered trademark) or BlueTooth (registered trademark). Thereafter, the operation of the remote operation device 10 can be controlled by performing an operation such as tilting the main body of the wireless communication terminal 20. In addition, the wireless communication terminal 20 can display on the display screen images that the imaging unit 101 of the remotely controlled device 10 has captured and sequentially transmitted in real time.

  For example, as shown in FIG. 2, the remotely operated device 10 includes a control unit 100, an imaging unit 101, a navigation schedule memory 102, an image processing unit 103, a GPS sensor 104, a wireless communication unit 105, and a drive. And a control unit 106. These are commonly connected via a system bus 107 having a plurality of lines for address, data, and control.

  The imaging unit 101 includes a lens, an image sensor such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS), and a driver IC. The imaging unit 101 converts subject light incident through the lens into an electrical signal by an image sensor, amplifies the signal with a driver IC, and outputs the signal to the image processing unit 103. The image processing unit 103 performs image processing such as gain adjustment, color adjustment, and encoding, and outputs the result to the control unit 100.

  In the navigation schedule memory 102, for example, an SDRAM (Synchronous Dynamic Random Access Memory) is mounted as a memory element, and a navigation schedule generated and transmitted by the wireless communication terminal 20 is stored. The GPS sensor 104 acquires data relating to the latitude and longitude at the current location of the remotely controlled device 10 from a plurality of GPS satellites and outputs the data to the control unit 100. As will be described later, this data is comparison data for determining whether or not the flight according to the navigation schedule is performed based on the current location of the control unit 100 (remotely operated device 10) obtained by position measurement calculation. Used.

  The wireless communication unit 105 is configured by a communication adapter that conforms to a short-range wireless communication standard such as Wi-Fi (registered trademark) or BlueTooth (registered trademark), and establishes a link with the wireless communication terminal 20 to establish a short-range Data exchange is performed by wireless communication. For example, the navigation schedule is received from the wireless communication terminal 20 and the captured image is transmitted to the wireless communication terminal 20.

  The drive control unit 106 is connected to a plurality of motors 108 and 109 that constitute a drive mechanism of the remotely operated device 10. The drive control unit 106 moves, for example, a propeller or the like so as to move to a position or a direction according to data on the inclination or direction of the wireless communication terminal 20 transmitted from the wireless communication terminal 20. The motors 108 and 109 to be driven are controlled.

  The control unit 100 is implemented by, for example, a microprocessor, and sequentially reads and executes a program recorded in a memory (not shown), thereby moving content transmitted from the wireless communication terminal 20 (such as the inclination of the wireless communication terminal 20). It functions as a movement control means for controlling the movement of itself based on the received movement contents. At this time, the control unit 100 may control its own movement based on the current position measured based on the data received via the GPS sensor 104 in addition to the received movement content. The control unit 100 may control its own movement based on the image captured by the imaging unit 101 in addition to the received movement content. The control unit 100 further functions as an imaging control unit that receives the imaging control content transmitted from the wireless communication terminal 20 and controls the imaging unit 101 based on the received imaging control content.

  As shown in FIG. 3, the wireless communication terminal 20 includes a control unit 200, a program memory 201, a work memory 202, an image storage memory 203, a wireless communication unit 204, an attitude detection sensor 205, a GPS sensor 206, The display unit 207 and the touch panel 208 are configured. These are commonly connected to a system bus 209 having a plurality of lines for address, data, and control.

  In the program memory 201, processing for acquiring an image captured by the remote operation device 10, processing for displaying the acquired image, processing for detecting an arbitrary operation on the displayed image, and detected operation A process for setting the movement range of the remote operation apparatus 10 according to the process, a process for setting the movement content of the remote operation apparatus 10 based on the detected operation content and the set movement range, and the set movement. The program which concerns on this embodiment including the process which transmits the content to the remotely operated apparatus 10 is recorded. The work memory 202 stores data generated by the control unit 200 during the execution of the program according to the present embodiment, and the image storage memory 203 captures and transmits the remote operation device 10 (imaging unit 101). Stored images are stored.

  Note that the program memory 201, work memory 202, and image storage memory 203 are configured by, for example, a semiconductor storage device having an SDRAM (Synchronous Random Access Memory) as a storage element, or a magnetic disk device such as an HDD (Hard Disc Drive). .

  The wireless communication unit 204 includes a communication adapter that conforms to a short-range wireless communication standard such as Wi-Fi (registered trademark) or BlueTooth (registered trademark), and establishes a link with the remotely operated device 10 to Exchange data by short-range wireless communication. The wireless communication unit 204 may further perform communication with an external device (not shown) connected to accumulate images transmitted from the remotely operated device 10.

  The posture detection sensor 205 is composed of, for example, an acceleration sensor or a magnetic field detection sensor. The attitude detection sensor 205 detects the attitude of the main body of the wireless communication terminal 20 (the direction such as the inclination or the azimuth with respect to the vertical direction (gravity direction)), and transmits the detection result to the remote operation device 10. The attitude detection sensor 205 is also used for creating a navigation schedule, and the control unit 200 acquires data regarding its own latitude and longitude from GPS satellites in order to calculate the position of its current location. The control unit 200 calculates the current position from the latitude / longitude information necessary for the current position measurement received by the GPS sensor 206 at regular time intervals.

  The display unit 207 is a display monitor having display elements such as an LCD (Liquid Crystal Device) and an organic EL (Organic Electro-Luminescence), for example. Here, an image received from the remotely operated device 10, a navigation trajectory, and the like are displayed. indicate. The touch panel 208 is a coordinate input device integrally formed with the display unit 207. For example, the touch panel 208 detects an input operation such as tracing an image displayed on the display unit 207 and outputs the locus (coordinates) to the control unit 200. .

  The control unit 200 is realized by, for example, a microprocessor, and implements the following functions by sequentially reading and executing a program recorded in the program memory 201 using the work memory 202. That is, the control unit 200 detects an arbitrary operation on the displayed image as an acquisition unit that acquires an image captured by the remotely operated device 10, as a display unit that displays the acquired image. As an operation detection means, as a movement range setting means for setting a movement range of the remote operation device 10 in accordance with the detected operation, and based on the detected operation content and the set movement range It functions as a movement content setting means for setting the movement content of the operation device 10 and as a transmission means for transmitting the set movement content to the remote operation device 10.

  Note that the control unit 200 may function as an imaging control content setting unit that sets the imaging control content for controlling the imaging unit 101 mounted on the remote operation device 10 based on the image displayed on the display unit 207. Good. The imaging control content set here is transmitted to the remotely operated device 10.

(Operation of the embodiment)
Hereinafter, the operation of the remote control system 1 according to the present embodiment shown in FIGS. 1 to 3 will be described in detail with reference to FIG.

  First, in the wireless communication terminal 20, the control unit 200 establishes a link with the remotely operated device 10 by the wireless communication unit 204, and captures real time by photographing the remotely operated device 10 during navigation (in flight). The transmission of the image (capture image) acquired in step S3 and data relating to the self-position is instructed (step S101). Receiving this, the remotely operated device 10 receives the image currently taken by the imaging unit 101 by the control unit 100 and the data related to the self-position calculated through the GPS sensor 104 by the wireless communication unit. It transmits via 105 (step S102).

  In response, in the wireless communication terminal 20, the control unit 200 displays the image received via the wireless communication unit 204 on the display unit 207 (step S103). At this time, the image displayed on the display unit 207 may be a still image or a moving image. And the control part 200 detects the instruction | command regarding the navigation locus and imaging | photography direction which are drawn on the display part 207 when a user operates the touch panel 208 (step S104). If it is determined here that there is a command (step S104 “Yes”), the control unit 200 acquires data related to the inclination (angle) of the wireless communication terminal 20 main body detected by the attitude detection sensor 205 with respect to the vertical direction (gravity direction). Capture (step S105).

  Subsequently, the control unit 200 displays, on the display unit 207, the navigation locus drawn by the user performing an operation of tracing the touch panel 208 on the still image obtained by the remote operation device 10 during the navigation imaging. (Step S106). This navigation track superimposition display is continued until drawing of the navigation track is completed. When the control unit 200 detects the end of drawing of the instructed navigation trajectory (step S107 “Yes”), the control unit 200 generates a rough navigation schedule from the acquired image, the inclination of the main body of the wireless communication terminal 20, and the navigation trajectory data. (Step S108). The navigation schedule here is data obtained by continuously plotting a moving range including latitude, longitude, and shooting direction.

  Here, the relationship between the navigation schedule drawn by operating the wireless communication terminal 20 and the navigation range (movement range) of the remotely operated device 10 will be described with reference to FIGS. explain.

  FIG. 5A shows that the wireless communication terminal 20 is tilted in the range of an angle β1 (0 degree or more and less than 30 degrees) with respect to the gravity direction α, and the display unit 207 and the touch panel 208 are navigated toward the user. The navigation range of the remotely controlled device 10 when a schedule is drawn is shown. In this case, the remote operation device 10 moves in a direction rising in the range of the angle β1 with respect to the vertical direction, and as a result, the object A that is the subject in the foreground deviates from the angle of view of the imaging unit 101 ( It does not skip to the dotted line notation in the figure. In FIG. 5B, the wireless communication terminal 20 is tilted in the range of an angle β2 (30 degrees or more and less than 60 degrees) with respect to the gravity direction α, and the display unit 207 and the touch panel 208 are navigated toward the user. The navigation range of the remotely controlled device 10 when a schedule is drawn is shown. In this case, the remotely operated device 10 moves slightly horizontally in the range of the angle β2 with respect to the vertical direction. As a result, the remotely operated device 10 has the object B, which is an intermediate subject. It does not skip beyond the angle of view of the imaging unit 101 (indicated by a dotted line in the figure).

  5C, the wireless communication terminal 20 is tilted with respect to the direction of gravity α within an angle β3 (60 degrees or more and 90 degrees or less: 90 degrees in the drawing), and the display unit 207 and the touch panel 208 are directed toward the user. The navigation range of the remotely controlled device 10 when the navigation schedule is drawn in the state is shown. In this case, the remotely controlled device 10 moves in the range of the angle β3 with respect to the vertical direction, and as a result, is almost infinitely far (in the far field) within the range where the radio waves of the short-range wireless communication by the wireless communication units 105 and 204 reach. It is possible to fly to the object C) which is the subject in the area.

  The relationship between the image acquired by the wireless communication terminal 20 and the navigation schedule setting will be described with reference to FIGS. FIG. 6A shows on the touch panel 208 the relationship between the captured images (objects A, B, and C) captured and acquired in the previous stage and the foreground, intermediate distance, and infinity when the navigation schedule is set. It is a thing. In FIG. 6B, a locus a that is drawn by the user performing an operation of tracing on the touch panel 208 and is superimposed on the captured image acquired on the display unit 207 is indicated by a thick line. Furthermore, by extending branch lines from arbitrary locations on the trajectory and adding arrow marks b and c, it is possible to instruct the shooting direction and shooting target of the remotely operated device 10 (imaging unit 101). The wireless communication terminal 20 has a trajectory obtained when the user performs an operation of tracing the touch surface of the touch panel 208, and the inclination of the wireless communication terminal 20 with respect to the vertical direction (gravity direction) of the wireless communication terminal 20 when tracing (however, The display unit 207 and the touch panel 208 are directed to the user), and the latitude / longitude to which the remote operation device 10 should move and the traveling (photographing) direction are roughly plotted, and this is used as a navigation schedule. Wireless transmission.

  Returning to FIG. The control unit 200 transmits the navigation schedule created as described above to the remotely operated device 10 by the short-range wireless communication via the wireless communication unit 204 (step S109). In the remotely operated device 10 that has received the navigation schedule by the short-range wireless communication via the wireless communication unit 105, the control unit 100 stores the navigation schedule in the navigation schedule memory 102 (step S110). The control unit 100 controls the navigation while sequentially comparing the self-position measured via the GPS sensor 104 and the data related to the latitude / longitude specified by the navigation schedule, and the imaging unit via the wireless communication unit 105. 101 acquires an image captured in real time and transmits it to the wireless communication terminal 20 (step S111).

  Note that the control unit 100 not only controls the movement of the remotely operated device 10 according to the navigation schedule during navigation, but also acquires the current position measured via the GPS sensor 104 or the imaging unit 101. The user's movement may be controlled so as to correct the movement content based on the image. In the wireless communication terminal 20, the control unit 200 synthesizes and displays the captured image acquired via the wireless communication unit 204 on the display unit 207 with respect to the actual trajectory of the navigation (step S112).

(Effect of embodiment)
According to the remote control system 1 according to the present embodiment, the control device (wireless communication terminal 20) acquires and displays an image captured by the mobile device (remote device 10), and performs the display on the displayed image. Detects any operation, sets the moving range of the moving device according to the operation, sets the moving content of the moving device based on the detected operation content and the set moving range, and moves the moving content Send to device. Then, the mobile device receives the transmitted movement content and controls its own movement based on the received movement content. Therefore, the user can set the movement range of the mobile device by intuitive operation, and sets the movement content of the mobile device based on the detected operation content of the control device and the set movement range. Remote control is possible, improving usability.

  In addition, according to the remote control system 1 according to the present embodiment, the mobile device has its own position based on the received movement content, the current position measured by the position positioning unit, or the image captured by the imaging unit. Control movement. Therefore, the movement content can be corrected spontaneously on the mobile device side, and movement control with high flexibility and expandability is possible according to the actual navigational situation. Further, according to the remote control system 1 according to the present embodiment, the control device sets and transmits the imaging control content for controlling the imaging means mounted on the mobile device based on the displayed image, and receives this. Then, the mobile device controls the imaging means based on the received imaging control content. Thus, in order to enable control of the imaging means according to the imaging control content, the control device can acquire a captured image at an arbitrary angle or magnification according to the navigation content of the mobile device, and therefore Convenience can be provided to the user.

  In addition, according to the remote control system 1 according to the present embodiment, only the remote control helicopter is illustrated as the remotely operated device 10. However, the remote control helicopter is not limited to this remote control helicopter. This is applied to the remotely operated device 10. In addition, although only the wireless communication terminal 20 such as a smartphone is illustrated as the control device 20, the control device 20 is applicable to all the control devices 20 as long as it is an information device capable of wireless communication such as a PC (Personal Computer) and a tablet terminal.

  As mentioned above, although preferred embodiment of this invention was explained in full detail, it cannot be overemphasized that the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiments. Further, it is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

The claims appended at the time of filing this application will be appended below.
[Claim 1]
A remote control system comprising: a mobile device provided with an imaging means; and a control device that controls the mobile device by remote operation,
The control device includes:
Obtaining means for obtaining an image captured by the imaging means by receiving from the mobile device;
Display means for displaying the image acquired by the acquisition means;
Operation detecting means for detecting an arbitrary operation on the image displayed by the display means;
Attitude detection means for detecting the attitude of the control device;
A movement range setting means for setting a movement range of the moving device according to the posture detected by the posture detection means;
Movement content setting means for setting the movement content of the moving device based on the contents of an arbitrary operation detected by the operation detection means and the movement range set by the movement range setting means;
Transmitting means for transmitting the set movement content to the mobile device;
With
The mobile device is
Receiving means for receiving the movement content transmitted from the transmitting means;
Movement control means for controlling own movement based on the received movement content;
A remote control system characterized by comprising:
[Claim 2]
It has a positioning device that measures your current location,
The movement control means includes
The remote control system according to claim 1, wherein the movement of the mobile terminal is controlled based on a current position measured by the position positioning means in addition to the received movement content.
[Claim 3]
The movement control means includes
3. The remote control system according to claim 1, wherein the movement of itself is controlled based on an image captured by the imaging unit in addition to the received movement content.
[Claim 4]
The control device includes:
Further comprising imaging control content setting means for setting imaging control content for controlling the imaging means based on the content of an arbitrary operation detected by the operation detecting means,
The transmission means includes
Send the imaging control content set by the imaging control content setting means to the mobile device,
The receiving means of the mobile device comprises:
The imaging control means for receiving the transmitted imaging control contents and controlling the imaging means based on the imaging control contents received by the receiving means. The remote control system according to claim 1.
[Claim 5]
A control method for a remote control system, comprising: a mobile device including an imaging unit; and a control device that includes at least a display unit and an operation detection unit, and controls the mobile device by remote operation,
The control device includes:
Receiving an image captured by the imaging means of the mobile device;
Displaying the received image on the display means;
An operation detecting step for detecting an arbitrary operation on the image displayed by the display means;
An attitude detection step for detecting the attitude of the control device;
A moving range setting step for setting a moving range of the moving device according to the posture detected in the posture detecting step;
A movement content setting step for setting the movement content of the moving device based on the content of the arbitrary operation detected in the operation detection step and the movement range set in the movement range setting step;
A transmission step of transmitting the set movement content to the mobile device;
A control method for a remote control system, comprising:
[Claim 6]
A computer of a control device comprising a display means and an operation input means for controlling a mobile device comprising an imaging means by remote operation,
Receiving means for receiving an image taken by the imaging means of the mobile device;
Display control means for displaying the received image on the display means;
Operation detecting means for detecting an arbitrary operation to the operation input means for the image displayed by the display control means;
Attitude detection means for detecting the attitude of the control device;
A moving range setting means for setting a moving range of the moving device according to the posture detected by the posture detecting means;
Movement content setting means for setting the movement content of the moving device based on the contents of an arbitrary operation detected by the operation detection means and the movement range set by the movement range setting means;
Transmitting means for transmitting the set movement content to the mobile device;
A program characterized by functioning as

  DESCRIPTION OF SYMBOLS 1 ... Remote control system, 10 ... Remotely-operated device (mobile device), 20 ... Wireless communication terminal (control device), 100 ... Control unit, 101 ... Imaging unit, 102 ... Navigation schedule memory, 103 ... Image processing unit, 104 DESCRIPTION OF SYMBOLS ... GPS sensor, 105 ... Wireless communication part, 106 ... Drive control part, 107 ... System bus, 108, 109 ... Motor, 200 ... Control part, 201 ... Program memory, 202 ... Work memory, 203 ... Image storage memory, 204 ... Wireless communication unit, 205 ... posture detection sensor, 206 ... GPS sensor, 207 ... display unit, 208 ... touch panel, 209 ... system bus.

Claims (6)

A remote control system comprising: a mobile device provided with an imaging means; and a control device that controls the mobile device by remote operation,
The control device includes:
Obtaining means for obtaining an image captured by the imaging means by receiving from the mobile device;
Display means for displaying the image acquired by the acquisition means;
Operation detecting means for detecting an arbitrary operation on the image displayed by the display means;
Attitude detection means for detecting the attitude of the control device;
A movement range setting means for setting a movement range of the moving device according to the posture detected by the posture detection means;
Movement content setting means for setting the movement content of the moving device based on the contents of an arbitrary operation detected by the operation detection means and the movement range set by the movement range setting means;
Transmitting means for transmitting the set movement content to the mobile device;
With
The mobile device is
Receiving means for receiving the movement content transmitted from the transmitting means;
Movement control means for controlling own movement based on the received movement content;
A remote control system characterized by comprising: It has a positioning device that measures your current location,
The movement control means includes
The remote control system according to claim 1, wherein the movement of the mobile terminal is controlled based on a current position measured by the position positioning means in addition to the received movement content. The movement control means includes
3. The remote control system according to claim 1, wherein the movement of itself is controlled based on an image captured by the imaging unit in addition to the received movement content. The control device includes:
Further comprising imaging control content setting means for setting imaging control content for controlling the imaging means based on the content of an arbitrary operation detected by the operation detecting means,
The transmission means includes
Send the imaging control content set by the imaging control content setting means to the mobile device,
The receiving means of the mobile device comprises:
The imaging control means for receiving the transmitted imaging control contents and controlling the imaging means based on the imaging control contents received by the receiving means. The remote control system according to claim 1. A control method for a remote control system, comprising: a mobile device including an imaging unit; and a control device that includes at least a display unit and an operation detection unit, and controls the mobile device by remote operation,
The control device includes:
Receiving an image captured by the imaging means of the mobile device;
Displaying the received image on the display means;
An operation detecting step for detecting an arbitrary operation on the image displayed by the display means;
An attitude detection step for detecting the attitude of the control device;
A moving range setting step for setting a moving range of the moving device according to the posture detected in the posture detecting step;
A movement content setting step for setting the movement content of the moving device based on the content of the arbitrary operation detected in the operation detection step and the movement range set in the movement range setting step;
A transmission step of transmitting the set movement content to the mobile device;
A control method for a remote control system, comprising: A computer of a control device comprising a display means and an operation input means for controlling a mobile device comprising an imaging means by remote operation,
Receiving means for receiving an image taken by the imaging means of the mobile device;
Display control means for displaying the received image on the display means;
Operation detecting means for detecting an arbitrary operation to the operation input means for the image displayed by the display control means;
Attitude detection means for detecting the attitude of the control device;
A moving range setting means for setting a moving range of the moving device according to the posture detected by the posture detecting means;
Movement content setting means for setting the movement content of the moving device based on the contents of an arbitrary operation detected by the operation detection means and the movement range set by the movement range setting means;
Transmitting means for transmitting the set movement content to the mobile device;
A program characterized by functioning as

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