JP2020027988A - Remote control server, remote control terminal, and remote control system - Google Patents

Abstract

To suppress a controlled-side device from being remote-controlled when the controlled-side device is not desirable to be controlled.SOLUTION: A remote control server includes: transmission/reception means to receive a control instruction for controlling a controlled-side device, as a control target, from a remote control terminal that remote-controls the controlled-side device and transmits the control instruction to the controlled-side device; and control means to restrict remote control by the remote control terminal, on the basis of a time calculated as time lag that occurs between an operation for the remote control of the controlled-side device at the remote control terminal and the control of the controlled-side device by the operation.SELECTED DRAWING: Figure 10

Description

  The present invention relates to a remote control server, a remote control terminal, and a remote control system.

For example, Patent Literature 1 discloses a real-time flight analysis for a remote safety person who plays the role of a co-pilot in order to monitor the safety of flight control of an aircraft and to provide information for the purpose of enhancing flight safety. A system is disclosed that includes a terrestrial computer workstation that provides for voice and text communication.
Further, Patent Literature 2 discloses a system that monitors the state of an occupant and an aircraft and issues an alarm when the state of the aircraft or the occupant is different from the predicted state.
Patent Document 3 discloses that a device for remotely controlling a robot at a remote place such as outer space from the ground is provided with a control means, a simulator, a transmission means, and a display means to control the remote control and the operation of the robot. It is disclosed that confirmation can be easily performed.

JP, 2007-515337, A JP, 2012-514553, A JP-A-2-116494

For example, the controlled device may be remotely controlled by operating the remote control terminal.
Here, for example, a time lag may occur between an operation for remotely controlling the controlled device at the remote control terminal and the controlled device being controlled by this operation, In some cases, the controlled device may be remotely controlled when it is not desirable to control the device.

  An object of the present invention is to suppress remote control when a controlled device is not preferable to be controlled.

With such a purpose, the present invention receives a control command for controlling the controlled device from a remote control terminal that remotely controls the controlled device to be controlled and transmits the control command to the controlled device. Calculating the time lag between the operation of remotely controlling the controlled device by the remote control terminal and the operation of controlling the controlled device by the operation. And limiting means for limiting the remote control by the remote control terminal based on the set time.
Here, when the remote control server receives, from the controlled device, information such as the status of the controlled device and / or the status related to the situation near the controlled device from the controlled device, the time lag is calculated as the time lag. It is possible to further include a prediction unit that predicts a state of the controlled device and / or a situation near the controlled device after the lapse of the elapsed time.
Further, the limiting unit may be configured such that when the controlled unit is predicted by the prediction unit to be in a predetermined state or that a situation near the controlled device is to be a predetermined state. It may be characterized in that remote control is restricted.
In addition, the controlled device is movable, and the remote control server further includes calculation means for calculating the time as the time lag at a plurality of locations through which the controlled device passes while moving, The means may change the content of the remote control to be restricted when the time calculated as the time lag by the calculation means changes.
According to another aspect of the present invention to achieve the above object, there is provided an operating means for performing an operation for remotely controlling a controlled device to be controlled, and the controlled device when the operating means is operated. A transmitting unit that transmits a control command for controlling the device to the controlled device, and a period between when the operation is performed by the operation unit and when the controlled device is controlled by the operation. And limiting means for limiting the remote control based on a time calculated as a time lag generated in the remote control terminal.
Here, the controlled device is movable, and the limiting unit changes the content of the remote control to be limited when the time calculated as the time lag changes with the movement of the controlled device. It can be a feature.
Further, the remote control terminal further includes display means for displaying information, wherein the restriction means performs the restriction when a time calculated as the time lag becomes equal to or longer than a predetermined first time. If the time calculated as the time lag is equal to or longer than a predetermined second time shorter than the first time, the time limit is limited to the limiter when the calculated time becomes equal to or longer than the first time. The content of the remote control to be performed is displayed.
According to another aspect of the present invention to achieve the above object, a remote control terminal that receives a user operation and remotely controls a controlled device to be controlled, the controlled device and the remote control terminal A remote control server connected to the remote control terminal to remotely control the controlled device, wherein the remote control server receives a control command for controlling the controlled device from the remote control terminal. The remote control terminal transmits the control command relating to the operation to the remote control server when the operation is performed on the remote control terminal. Means, based on a time calculated as a time lag occurring between the time when the operation is performed at the remote control terminal and the time when the controlled device is controlled by the operation. Characterized in that it has a limiting means for limiting the remote control, a remote control system.

  Advantageous Effects of Invention According to the present invention, it is possible to suppress remote control when the controlled device is not desirable to be controlled.

It is a figure showing the whole remote control system composition by this embodiment. It is a figure showing the example of composition of an operation terminal. FIG. 3 is a diagram illustrating a functional configuration of an operation server. FIG. 3 is a diagram illustrating a functional configuration of an operator management server. It is a figure explaining the concept of the use mode of remote control. It is a flowchart which shows operation | movement of the takeover control by a takeover control part. It is a figure showing the example of the whole composition of the airplane remote control system as an example of a remote control system. It is a figure showing an example of functional composition of a control part of an airplane. FIG. 3 is a diagram illustrating a functional configuration example of a main control unit of the remote control terminal. (A) is a diagram showing an example of a time lag level management table, and (b) is a diagram showing an example of a predicted state management table. It is a figure showing each point which an airplane passes during flight. (A), (b) is a figure which showed the time lag notification screen. (A), (b) is a figure which showed the time lag notification screen. (A), (b) is a figure which showed the time lag notification screen. FIG. 5 is a diagram illustrating a switching screen for switching a remote control terminal that is to remotely control an airplane. (A), (b) is a figure which showed the screen displayed on the information display part of a remote control terminal when the remote control terminal switched by the remote control server.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
<System configuration>
FIG. 1 is a diagram showing the overall configuration of the remote control system according to the present embodiment. The remote control system S includes a site system S1 that collects information and performs work on site, and an operation system S2 that executes control and operation of the site system. Although FIG. 1 shows one site system S1 and one operation system S2, the operation system S2 can control a plurality of site systems S1.

  In the configuration example illustrated in FIG. 1, the site system S1 includes an information acquisition device 100 and an operation device 200. The information acquisition device 100 and the operation device 200 are devices to be controlled in the remote control system S of the present embodiment, that is, controlled devices. The operation system S2 includes an operation terminal 300, an operation server 400, and an operator management server 500. The operation terminal 300 and the operation server 400 include the information acquisition device 100 and the operation device 200 of the site system S1 (hereinafter, when the devices constituting the site system S1 are collectively described, the devices 100 and 200 of the site system S1 are described. ). The operator management server 500 is a device that manages an operator who operates the operation terminal 300. FIG. 1 shows one operation terminal 300, but in the actual operation system S2, a plurality of operation terminals 300 correspond to one site system S1. The relationship between the site system S1 and the operation terminal 300 will be described later.

<Configuration of information acquisition device>
The information acquisition device 100 is a device that acquires various data at the site. Various devices are used as the information acquisition device 100 according to the type and format of the acquired data. The specific device used as the information acquisition device 100 is not particularly limited. For example, a camera that acquires an image, a microphone that acquires voice or acoustic data, various types of devices that detect a physical quantity (data) representing an environment or the state of an article. A sensor or the like is used. As the sensor, for example, a temperature sensor, a humidity sensor, a pressure sensor, an illuminance sensor, a speed sensor, a vibration sensor, and the like are used alone or in combination according to information to be acquired. Further, a sensor or the like that analyzes an odor component that stimulates human smell or a taste component that stimulates taste and obtains the data as data may be used. What kind of equipment is specifically used as the information acquisition apparatus 100 and what kind of information to acquire are individually specified in accordance with, for example, the use and application purpose of the site system S1.

  Further, the information acquisition device 100 includes a communication unit for receiving a control command from an external device and outputting the acquired data to the external device. As the communication means, a wireless communication device, a wired network interface, or the like is used. Further, the information acquisition device 100 may include a holding unit that holds the acquired data, a processing unit that executes a predetermined process on the acquired data, a control unit that executes a predetermined control, and the like. . As the holding means, for example, a non-volatile memory is used. As processing means and control means, for example, arithmetic circuits such as CPU (Central Processing Unit), ASIC (Application Specific Integrated Circuit), ASSP (Application Specific Standard Produce), FPGA (Field Programmable Gate Array), and these arithmetic circuits An SoC (System on a Chip), a system LSI (Large Scale Integrated circuit), or the like in combination with a memory is used.

  Furthermore, the information acquisition device 100 may include a moving mechanism depending on the specific contents of the site system S1 to which the information acquisition device 100 is applied. Depending on the type of data and the method of obtaining the data, it may be necessary to obtain the data while moving the information obtaining apparatus 100. In such a case, data is acquired while moving by the moving mechanism provided in the information acquisition device 100. The mode of movement of the information acquisition device 100 is variously set according to the type of data, the method of acquisition, and the like. For example, one-dimensional movement, two-dimensional movement, and three-dimensional movement can be performed. In addition, the vehicle may move on a predetermined trajectory or may move on a free route. The specific moving mechanism is selected according to the mode of movement required of the information acquisition device 100. For example, it may be realized by a combination of a member for generating thrust, such as a wheel and a propeller, and a driving device for driving the member. Further, a configuration may be adopted in which air is blown in one direction and moves in reaction to the air. Alternatively, the information acquisition device 100 may be installed at the other end of the movable arm having one end fixed, and may be moved by operating the movable arm. When a moving mechanism is provided in the information acquisition apparatus 100, the operation of the moving mechanism may be controlled by the above-described control means, or a control means dedicated to operation control of the moving mechanism may be separately provided. The operation control of the moving mechanism may be performed by automatic control set by a program or the like, or may be performed by a control command received from the operation server 400 described later.

<Structure of action device>
The action device 200 is a device that physically acts on the surrounding environment, articles, persons, and the like at the site. Various devices are used as the action device 200 according to the physical effects to be exerted on the environment, articles, persons, and the like. Specific devices used as the action device 200 are not particularly limited, but include, for example, an actuator for moving an object, a light emitting device for emitting light, an acoustic device for emitting sound, a heating device for emitting heat, and various other functions and mechanisms. Devices that have What kind of equipment is specifically used as the action device 200 and how it is operated is individually specified according to, for example, the use and application purpose of the site system S1.

  In addition, the action device 200 includes a communication unit for receiving a control command from an external device and outputting operation history data to the external device. As the communication means, a wireless communication device, a wired network interface, or the like is used. Further, the action device 200 may include a control unit that executes operation control based on the received control command, a holding unit that holds the control command and the operation history data, and the like. As the control means, for example, arithmetic circuits such as a CPU, an ASIC, an ASSP, and an FPGA, an SoC in which these arithmetic circuits are combined with a memory, a system LSI, and the like are used. As the holding unit, for example, a non-volatile memory or a RAM (Random Access Memory) is used.

  Further, the action device 200 may include a moving mechanism depending on the specific contents of the site system S1 to which the action device 200 is applied. Depending on the manner of operation for generating an effect on the surrounding environment, articles, persons, and the like at the site, it may be necessary to operate the action device 200 while moving it. In such a case, the operation device 200 is operated while being moved by the moving mechanism. The mode of movement of the action device 200 is variously set according to the type of data, the method of acquisition, and the like. For example, one-dimensional movement, two-dimensional movement, and three-dimensional movement can be performed. In addition, the vehicle may move on a predetermined trajectory or may move on a free route. The specific moving mechanism is selected according to the mode of movement required for the action device 200. For example, it may be realized by a combination of a driving device and a member for generating a thrust such as a wheel or a propeller. Further, a configuration may be adopted in which air is blown in one direction and moves in reaction to the air. Alternatively, the action device 200 may be provided at the other end of the movable arm having one end fixed, and may be moved by operating the movable arm. When a movement mechanism is provided in the action device 200, the operation of the movement mechanism may be controlled by the above-described control means, or a control means dedicated to operation control of the movement mechanism may be separately provided. The operation control of the moving mechanism may be performed by automatic control set by a program or the like, or may be performed by a control command received from the operation server 400 described later.

<Equipment configuration of site system>
In addition, in the configuration example illustrated in FIG. 1, the information acquisition device 100 and the operation device 200 are described as the devices configuring the site system S1, but the system configuration of the site system S1 is not limited to the above configuration. For example, an intermediate server (so-called edge server) that manages and controls the information acquisition device 100 and the operation device 200 is provided in the site system S1, and communication with the operation server 400 is performed via the intermediate server. Is also good. When an intermediate server is provided, all of the information acquisition device 100 and the action device 200 may be placed under the control of the intermediate server, or only one of them may be managed by the intermediate server, and the other may be directly connected to the operation server 400. You may do it. Further, a system configuration in which the information acquisition device 100 and the operation device 200 managed by the intermediate server and the information acquisition device 100 and the operation device 200 that are directly connected to the operation server 400 without going through the intermediate server may be mixed. In addition, the information acquisition device 100 and the operation device 200 may not only be prepared as physically separate devices, but also be configured as a device in which some information acquisition devices 100 and the operation device 200 are combined. For example, a robot in which a plurality of information acquisition devices 100 and action devices 200 are incorporated may be used as a controlled device.

<Configuration of operation terminal>
The operation terminal 300 is a terminal device used by an operator to remotely control the devices 100 and 200 of the site system S1. That is, the operation terminal 300 is an example of a remote control terminal. The information acquisition device 100 is a device whose main function is to acquire data and transmit it to the operation server 400 as described later. Although there is a case where the operation terminal 300 does not perform any operation, the fact that the operation terminal 300 sets the information acquisition device 100 as a monitoring target is described as “control”, “operation”, or the like for convenience. The operation terminal 300 outputs information obtained from the devices 100 and 200 of the site system S1 and outputs the information to an operator (user of the operation terminal 300), and controls the devices 100 and 200 of the site system S1. Input means for receiving an input. The operation terminal 300 includes a communication unit for connecting to the operation server 400 and a control unit for controlling functions of the operation terminal 300.

  FIG. 2 is a diagram illustrating a configuration example of the operation terminal 300. The operation terminal 300 includes a main control unit 310 as control means. The operation terminal 300 includes an output control unit 320 as an output unit and an output device 330. The operation terminal 300 includes an operation receiving unit 340 as an input unit and an operation device 350. The operation terminal 300 includes a transmitting / receiving unit 360 as a communication unit.

  The main control unit 310 controls main operations of the operation terminal 300 and performs communication control. The main control unit 310 is realized by, for example, a CPU, a ROM (Read Only Memory), and a RAM. A program for controlling the operation of the operation terminal 300 is stored in the ROM, and the CPU performs various operation controls and processes by reading and executing the program from the ROM.

  The output control unit 320 controls the output device 330 to operate. The output device 330 outputs the information of the site system S1 acquired from the operation server 400 under the control of the output control unit 320. Various media such as images and sounds can be used to output information. For example, when outputting an image such as a moving image or a still image, the output control unit 320 is realized by a display mechanism using, for example, a GPU (Graphics Processing Unit), and the output device 330 is realized by, for example, a display device. When outputting acoustic information such as voice and environmental sound, the output control unit 320 is realized by, for example, a CPU used for the main control unit 310, and the output device 330 is realized by, for example, audio equipment including an amplifier and a speaker. . When outputting information by light emission as a visual medium other than an image, the output control unit 320 is realized by, for example, a CPU used for the main control unit 310, and the output device 330 is formed by a light emitting device such as an LED (Light Emitting Diode). Is achieved. In addition, various means for stimulating human sensation, such as devices that stimulate tactile sensation by pressure, temperature change, vibration, etc., devices that stimulate olfaction by using chemical substances, devices that stimulate taste by electrical stimulation or chemical substances, etc. Can be used as an output means (interface) for transmitting information of the site system S1 to the operator.

  The operation receiving unit 340 receives an operation performed by the operator using the operation device 350, and executes a predetermined process according to the received operation. Specifically, the operation receiving unit 340 inputs a command or data associated with the content of the operation. The operation device 350 is a device on which an operator performs an operation for input. As the operation device 350, various devices that can be operated by an operator can be used. As the general operation device 350, for example, a pointing device such as a mouse, a keyboard, a touch panel, or the like is used. Further, an eye tracking device that identifies the line of sight of the wearer (operator) and recognizes the line of sight as an input operation may be used. Alternatively, a device that recognizes, as an input operation, the strength with which the operator grips the grip portion with a tactile sensor provided on a grip portion such as a handle or a lever may be used. In addition, various devices that can recognize an operator's operation as an input operation can be used as the operation device 350.

  The transmission / reception unit 360 is a network interface for connecting to the operation server 400 via a network. Thus, the operation terminal 300 exchanges data with the operation server 400. As the transmission / reception unit 360, a wireless communication device or a wired interface is used according to the type of a connection line to an available network.

  In the operation terminal 300 configured as described above, information is output using the output device 330 based on the information acquired from the devices 100 and 200 of the site system S1. Then, the operator can know the situation of the site where the site system S1 is provided by the output from the output device 330. On the other hand, when the operator operates the operation device 350, control commands and control data for the devices 100 and 200 of the site system S1 are input. Then, the input control command and control data are transmitted to the devices 100 and 200 of the site system S1 via the operation server 400, whereby the devices 100 and 200 of the site system S1 are controlled.

  The operation terminal 300 may be any device having a functional configuration corresponding to the control unit, the output unit, the input unit, and the communication unit, and may have various types of hardware configurations according to the operation to be performed and the content of the operation Can be taken. For example, it may be configured as a dedicated terminal device including an output device and an input device configured according to the operation work. Further, a personal computer may be used as the operation terminal. Further, a portable information terminal device such as a tablet terminal device or a smartphone, or a wearable terminal device may be used as the operation terminal. Further, these specific devices may be combined and used as the operation terminal 300 for a specific operation or work.

<Configuration of Operation Server>
The operation server 400 connects the devices 100 and 200 of the site system S1 and the operation terminal 300, and implements remote control by the operation terminal 300. The operation server 400 controls the execution of the operation and the takeover control of the operator. In the case where the devices 100 and 200 of the site system S1 are remotely controlled by the operation terminal 300, a plurality of operators take over the control and work by replacing them, so that the devices 100 and 200 of the site system S1 can be continuously operated. .

  Here, because of the remote control, the handover of the control is not only performed by an operator using a single operation terminal 300, but also between the plurality of operation terminals 300 located at different places. This may be performed by switching the control subject of the devices 100 and 200. The control subject is the operation terminal 300 that is actually performing remote control operations on the devices 100 and 200 of the site system S1. That is, the operation server 400 controls one of the plurality of operation terminals 300 as a control entity of the devices 100 and 200 of the site system S1 and, based on a predetermined switching condition, sets the operation terminal to be the control entity. Switch in order to take over control. When switching the operation terminal 300 which is the control entity of the devices 100 and 200 of the site system S1, the operation server 400 performs the takeover control for taking over the remote control without delay.

  FIG. 3 is a diagram showing a functional configuration of the operation server 400. The operation server 400 includes a transmission / reception unit 410, a processing unit 420, an operation database (DB) 430, and a takeover control unit 440.

  The transmission / reception unit 410 is a network interface for connecting to the operation terminal 300, the information acquisition device 100 of the site system S1, and the operation device 200 via a network. Accordingly, the operation server 400 receives the data from the information acquisition device 100 and transmits the received data to the operation terminal 300. Further, the operation server 400 receives operation history data (log data) from the operation device 200. Further, the operation server 400 receives a control command or control data from the operation terminal 300 and transmits it to the operation device 200.

  The processing unit 420 controls data exchange between the devices 100 and 200 of the site system S1 and the operation terminal 300 by the transmission / reception unit 410. The processing unit 420 performs a predetermined process on the data acquired from the information acquisition device 100 as necessary. Various data such as video data, audio data, acoustic data, and sensor data are transmitted from the information acquisition device 100. These data may need to be processed for output at the operation terminal 300 in some cases. For example, in some cases, it is necessary to reduce the size of moving image data by a compression process or the like. In some cases, the sensor data is required to be presented not as raw data acquired from the sensor but as information such as a rate of change over a certain period of time. Similarly, control data received from the operation terminal 300 may need to be processed and transmitted to the action device 200 in some cases. The processing unit 420 performs these processes according to the settings. The transmission / reception unit 410 and the processing unit 420 are an example of a transmission / reception control unit.

  The operation DB 430 stores data acquired from the information acquisition device 100 and operation history data acquired from the operation device 200. The operation DB 430 stores history data of operations performed by the operation terminal 300. The data stored in the operation DB 430 is used, for example, for the analysis of the status of the site system S1 by the operation terminal 300 and the evaluation of the operation by a specific operator. The data stored in the operation DB 430 includes information such as the current operation contents of the operator and the state of the site system S1 when the operator (operation terminal 300) in charge of the devices 100 and 200 of the site system S1 switches over. Is used to inform the next operator.

  The takeover control unit 440 performs takeover control when the operator (operation terminal 300) in charge of the devices 100 and 200 of the site system S1 switches according to a predetermined rule. When the handover of the operator is performed, the continuity of the operation and work in the site system S1 is ensured by notifying the next operator (after switching) of the current operation content of the operator, and it is possible to suppress the deterioration in quality. it can. However, due to the work required for the handover, the load on the next operator at the start of the work increases. Here, in the case of remote operation using the operation terminal 300, the operator knows the status of the devices 100 and 200 of the site system S1 via the output means of the operation terminal 300. Therefore, by performing the same output as that of the current operator's operation terminal 300 at the next operator's operation terminal 300, the next operator can obtain the same information as the current operator regarding the status of the devices 100 and 200 of the site system S1. Can be obtained.

  In the takeover control, both the operation terminals 300 before and after the takeover are connected to the devices 100 and 200 of the site system S1 for a certain period of time when switching from the operation terminal 300 as the current control subject to the operation terminal 300 as the control subject after switching. Then, the same information acquired from the devices 100 and 200 of the site system S1 is provided to both of these operation terminals 300. By performing such takeover control, an increase in load at the time of takeover of an operator taking over the remote control is suppressed, and the takeover can be performed without delay. Details of the operation of the takeover control by the takeover control unit 440 will be described later. The transmission / reception unit 410 and the takeover control unit 440 are examples of a takeover control unit.

<Configuration of operator management server>
The operator management server 500 manages the operator (the operation terminal 300) in association with the devices 100 and 200 of the site system S1 assigned to the operator. The site system S1 is generally provided with a plurality of information acquisition devices 100 and a plurality of operation devices 200. Therefore, a plurality of operators may be associated with one site system S1. Further, one operator may be associated with a plurality of information acquisition devices 100 and a plurality of operation devices 200 in one site system S1. Further, one operator may be associated with the information acquisition device 100 or the action device 200 in the plurality of site systems S1. The operator management server 500 manages these correspondences by registering them in, for example, a table.

  FIG. 4 is a diagram showing a functional configuration of the operator management server 500. The operator management server 500 includes an operator information database (DB) 510, a control unit 520, and a transmission / reception unit 530. The operator information DB 510 stores a table 511 for managing operator information. In the table 511 of the operator information DB 510, terminal identification information, target system identification information, target device identification information, corresponding time information, area information, execution management information, and handover information are registered.

  The terminal identification information is identification information of the operation terminal 300, and an operator who uses the operation terminal 300 is also specified by this information. The target system identification information is identification information of the site system S1 assigned to the operator. The target device identification information is the identification information of the information acquisition device 100 and the action device 200 that the operator is in charge of.

  The response time information is information indicating a time during which the operator can work. As this time, for example, the time based on the time of the installation location of the site system S1 in charge of the operator and the time based on the time of the installation location of the operation terminal 300 are registered. The former is standard time, and the latter is local time. By using the standard time, even if there is a time difference between the residences of the operators who operate the devices 100 and 200 of the site system S1 (places where the operation terminal 300 is installed), the time at which each operator is in charge of the operation is handled in a unified manner. be able to. On the other hand, by using the local time, each operator can manage the working time in his or her place of residence.

  The regional information is identification information of an installation location of the operation terminal 300. The regional information includes information on the time difference between the installation location of the operation system 300 and the installation location of the operation terminal 300. The execution management information is information indicating whether or not the operation terminal 300 is executing remote control of the devices 100 and 200 of the site system S1. The handover information is information indicating the operation terminal 300 of the operator who is in charge of remote control next to the current operator.

  The control unit 520 of the operator management server 500 performs various managements on the operator using information registered in the operator information DB 510. Specifically, the control unit 520 manages, for each operator (operation terminal 300), whether or not the operation of the corresponding device 100, 200 of the site system S1 is being executed (execution operator management). Further, the control unit 520 manages the place of residence and the working time of the running operator (area management and time management). Further, the control unit 520 manages the next operator who executes the remote control by taking over from the current operator (takeover management). The control unit 520 returns these pieces of management information in response to an inquiry from the operation server 400, for example. In addition, the control unit 520 updates the registration information according to an instruction from the operation server 400, for example.

  The transmission / reception unit 530 of the operator management server 500 is a network interface for connecting to the operation server 400 via a network and exchanging data.

<Remote control mode>
An example of a use mode of the remote control according to the present embodiment will be described. Here, a case will be described in which the devices 100 and 200 of the site system S1 are remotely controlled by operation terminals 300 respectively arranged at a plurality of bases set to orbit around the earth E along the rotation direction. Since there is a time difference between the bases, the site system S1 is continuously operated under the control of the operator without resting throughout the day by switching the operation terminal 300 which is the control main body while moving the bases in the order of the time difference. , Data can be obtained.

  FIG. 5 is a diagram for explaining the concept of the mode of use of remote control. In the example shown in FIG. 5, four locations, locations B1 to B4, are set as locations where the operation terminals 300 are located. The base B1 and the base B2, the base B2 and the base B3, the base B3 and the base B4, and the base B4 and the base B1 have a time difference of 6 hours each. Then, every six hours, the base is moved in the order of the base B1, the base B2, the base B3, the base B4, and the base B1, and the operation terminal 300 that remotely controls the devices 100 and 200 of the site system S1 is switched for 24 hours. The site system S1 can be operated continuously. As an example, when the base B1 is set in Japan, the base B2 is set in Saudi Arabia, the base B3 is set in Brazil, and the base B4 is set in Hawaii, the time difference between the bases is about 6 hours (note that the time difference between the bases is approximately 6 hours). The time difference between base B1 (Japan) and base B4 (Hawaii) is 5 hours, and the time difference between base B3 (Brazil) and base B4 (Hawaii) is 7 hours). With this setting, even if the place where the site system S1 is installed is night, remote control is performed by the operation terminal 300 of the base which is daytime even if the place where the site system S1 is installed is night due to the time difference between the bases B1 to B4. It can be carried out. For this reason, it is possible to avoid imposing a burden on nighttime labor for the operator at each site. In the above configuration, the devices 100 and 200 of the site system S1, at least one operation terminal 300, the operation server 400 and the operator management server 500 may be arranged in the same country.

<Takeover control>
Next, takeover control by the takeover control unit 440 of the operation server 400 will be described. The handover control unit 440 performs the same output to the current operation terminal 300 and the next operation terminal 300 for a certain period of time when performing the handover of the remote control to the devices 100 and 200 of the site system S1. The operator of the terminal 300 can obtain the same information.

  FIG. 6 is a flowchart illustrating the operation of the takeover control by the takeover control unit 440. When a certain time comes before the takeover time, the takeover control unit 440 inquires of the operator management server 500 to acquire the information of the operation terminal 300 (hereinafter, referred to as “next terminal 300”) which will be the next control entity (S601, S602).

  Next, when the handover control unit 440 receives a notification indicating that the handover is in the handover standby state from the next terminal 300 (S603), the handover control unit 440 sends the notification to the operation terminal 300 (hereinafter, referred to as “current terminal 300”), which is the current control subject. Then, it is notified that control (takeover control) for taking over the control subject is performed (S604). The takeover standby state is a state in which the next terminal 300 has completed preparations for taking over the control entity. Specifically, for example, this is a state in which the operator can execute a remote control operation using the operation terminal 300.

  Next, as the takeover control, the takeover control unit 440 performs the same output as the output to the current terminal 300 to the next terminal 300 (S605). Then, when the handover time has come, the handover control unit 440 switches the control subject from the current terminal 300 to the next terminal 300 (S606, S607).

  Although the embodiments of the present invention have been described above, the technical scope of the present invention is not limited to the above embodiments. For example, in switching of the operation terminal 300 which is a control subject to the devices 100 and 200 of the site system S1, instead of specifying the next terminal 300 for the current terminal 300 as a single operation terminal 300, a predetermined or arbitrary one is determined. You may make it select from a some operation terminal 300.

<About time lag>
Next, a time lag that occurs between the devices 100 and 200 of the site system S1 and the operation terminal 300 will be described.
In the present embodiment, as described above, the operator operates the operation terminal 300 to remotely control the devices 100 and 200 of the site system S1. Here, a time lag may occur between the operation of the operation terminal 300 and the control of the devices 100 and 200 of the site system S1 by the operation. Therefore, when the time as the time lag is long, even if the operator operates the operation terminal 300 when determining that it is preferable to control the devices 100 and 200 of the site system S1, the devices 100 and 200 of the site system S1 are controlled. Sometimes it is not desirable to be controlled.

  Further, when the time as the time lag is short, the influence of the time lag when the devices 100 and 200 of the site system S1 are remotely controlled tends to be small. However, when the devices 100 and 200 of the site system S1 move by the moving mechanism, the time as a time lag may change with a change in the distance between the devices 100 and 200 of the site system S1 and the operation terminal 300. Therefore, even if the time as a time lag is initially short in the remote control of the devices 100 and 200 of the site system S1 having the moving mechanism, the time as the time lag becomes longer due to the movement of the devices 100 and 200 of the site system S1. In other words, the effect of the time lag when the devices 100 and 200 of the site system S1 are remotely controlled may increase.

  Therefore, in the present embodiment, a time as a time lag generated between the operation terminal 300 and the devices 100 and 200 of the site system S1 is calculated periodically. When it is determined that the time calculated as the time lag is long, the remote control of the devices 100 and 200 of the site system S1 by the operation terminal 300 is restricted, and the devices 100 and 200 of the site system S1 are controlled. Suppress remote control when it is not desirable to Hereinafter, a specific configuration of the remote control system S for realizing the restriction of the time-based remote control as a time lag generated between the devices 100 and 200 of the movable site system S1 and the operation terminal 300 will be described. .

<Configuration of airplane remote control system>
FIG. 7 is a diagram illustrating an overall configuration example of an airplane remote control system as an example of the remote control system S.
The airplane remote control system includes an airplane 10 as an example of the site system S1, remote control terminals 300A and 300B as an example of the operation terminal 300, and a remote control server 400A as an example of the operation server 400. The airplane 10 of the present embodiment includes at least the information acquisition device 100 and the action device 200 illustrated in FIG. The airplane 10 and the remote control server 400A, and the remote control terminals 300A and 300B and the remote control server 400A are connected via a network.

  The airplane remote control system according to the present embodiment calculates a time as a time lag that occurs between the operation of the remote control terminal and the control of the airplane 10 by this operation. Then, the remote control by the remote control terminal is restricted based on the calculated time as the time lag.

The airplane 10 is operated by operating operation means (not shown) provided on the airplane 10 to fly in the air. The airplane 10 includes a fuselage 11, a thrust generator 12, a main wing 13, and a controller 14.
The body 11 carries a person. The thrust generator 12 has a jet engine and a propeller, for example, and generates thrust. The main wing 13 generates lift. The control unit 14 controls the overall operation of the airplane 10.

The remote control terminal 300A includes a main control unit 310A, an information display unit 330A as an example of the output device 330, and an operation unit 350A as an example of the operation device 350. The remote control terminal 300B has the same configuration as the remote control terminal 300A.
In the present embodiment, the remote control terminals 300A and 300B are arranged at different places on the earth. While the airplane 10 moves during the flight, the remote control terminals 300A and 300B used for remote control of the airplane 10 are not moved from the place where they are located.

  Although two remote control terminals 300A and 300B are shown in the example shown in FIG. 7, the number of remote control terminals is not limited to the two shown. For example, only one remote control terminal may be provided, or three or more remote control terminals may be provided.

<Functional configuration of control unit of airplane>
Next, a functional configuration of the control unit 14 of the airplane 10 will be described.
FIG. 8 is a diagram illustrating an example of a functional configuration of the control unit 14 of the airplane 10.
As illustrated in FIG. 8, the control unit 14 of the airplane 10 includes an operation control unit 15 that controls operations of the thrust generating unit 12, the main wing 13, and the like, and operation information regarding an operation performed using the operation unit of the airplane 10. An operation information transmitting unit 16 that transmits the operation information to the operation control unit 15; The control unit 14 includes a state detection unit 17 that detects the state of the airplane 10 and a nearby state detection unit 18 that detects a state near the airplane 10. Further, the control unit 14 includes a transmission / reception unit 19 for transmitting / receiving information to / from the remote control terminals 300A and 300B via the remote control server 400A.

The operation control unit 15 controls the operation of the airplane 10 according to the operation information acquired from the operation information transmission unit 16. Further, when the operation control unit 15 acquires information related to the remote operation performed using the remote control terminals 300A and 300B, the operation control unit 15 controls the operation of the airplane 10 based on the information.
The operation information transmission unit 16 generates operation information according to an operation performed using the operation unit of the airplane 10, and transmits the generated operation information to the operation control unit 15.

The state detector 17 detects the state of the airplane 10 at predetermined time intervals (for example, one second) by a sensor (not shown). The state of the airplane 10 includes, for example, the speed, altitude, azimuth, longitude, latitude, and in-flight temperature of the airplane 10. The state detecting unit 17 transmits state information on the detected state of the airplane 10 to the transmitting / receiving unit 19.
The nearby situation detecting unit 18 detects a situation near the airplane 10 at predetermined time intervals (for example, one second) by a sensor (not shown). The situation in the vicinity of the airplane 10 includes, for example, the weather, the wind direction, the wind speed in the vicinity of the airplane 10, the presence of another airplane in the vicinity of the airplane 10, and the like. The nearby situation detecting unit 18 transmits the detected situation information on the situation near the airplane 10 to the transmitting / receiving unit 19.

  The transmission / reception unit 19 transmits status information and status information to the remote control terminals 300A and 300B. In addition, the transmission / reception unit 19 receives information related to a remote operation performed using the remote control terminals 300A and 300B from the remote control terminals 300A and 300B via the remote control server 400A.

<Functional configuration of main control unit of remote control terminal>
Next, the functional configuration of the main control unit 310A of the remote control terminal 300A will be described.
FIG. 9 is a diagram illustrating a functional configuration example of the main control unit 310A of the remote control terminal 300A.

As shown in FIG. 9, the main control unit 310A of the remote control terminal 300A includes a transmission / reception unit 311A for transmitting / receiving information to / from the airplane 10, and a display control unit 312A for controlling display of information. Further, the main control unit 310A includes a remote operation information transmission unit 313A that transmits remote operation information regarding remote operation performed using the operation unit 350A to the transmission / reception unit 311A. Further, the main control unit 310A includes a time lag calculation unit 314A that calculates a time as a time lag that occurs between the operation of the remote control terminal 300A and the control of the airplane 10 by the operation. Further, main control section 310A has a storage section 315A for storing a specific remote control in association with a time as a time lag, and a level for setting a time level (time lag level) as a time lag calculated by time lag calculation section 314A. And a setting unit 316A. The main control unit 310A includes a prediction unit 317A that predicts the state of the airplane 10 and the like, and an invalidation setting unit 318A that invalidates remote control of the airplane 10 by the remote control terminal 300A.
In the following, “the time lag that occurs between the operation of the remote control terminal 300A and the control of the airplane 10 by this operation” is simply referred to as the “time lag between the remote control terminal 300A and the airplane 10”. Time lag caused by ".

The transmission / reception unit 311A as an example of the transmission unit receives the status information and the status information transmitted from the transmission / reception unit 19 of the airplane 10 via the remote control server 400A. Further, the transmission / reception unit 311A transmits the remote operation information acquired from the remote operation information transmission unit 313A to the transmission / reception unit 19 of the airplane 10 via the remote control server 400A. The remote operation information is regarded as a control command for controlling the airplane 10.
The display control unit 312A causes the information display unit 330A to display status information and status information. The display control unit 312A sets the time as the time lag calculated by the time lag calculation unit 314A, the time lag level set in the level setting unit 316A, the content predicted by the prediction unit 317A, and the invalid setting by the invalid setting unit 318A. Displays the contents of remote control.

The remote operation information transmission unit 313A generates remote operation information according to the operation performed using the operation unit 350A, and transmits the generated remote operation information to the transmission / reception unit 311A.
The time lag calculation unit 314A calculates a time as a time lag that occurs between the remote control terminal 300A and the airplane 10 each time the remote control terminal 300A acquires the state information from the airplane 10.

The time lag calculation unit 314A stores the plurality of reference distances and the time as the previously calculated time lag in association with each other. The reference distance is a value determined as a possible distance between the remote control terminal 300A and the airplane 10. The plurality of reference distances are provided, for example, at predetermined distances (every 100 km). Here, a method of calculating a time as a time lag corresponding to one reference distance (for example, 1000 km) will be described. For example, it is assumed that the same time is set in the remote control terminal 300A and the airplane 10, and the remote control terminal 300A and the airplane 10 are separated by one reference distance. In this state, the time calculated as the difference between the time at which the remote control terminal 300A transmitted the information and the time at which the information was received by the airplane 10 is the time as the time lag corresponding to one reference distance. As an example, if the time at which the remote control terminal 300A transmits the information is 7:00:00 and the time at which the information is received by the airplane 10 is 7:00:01, the distance is set to one reference distance. The time as the time lag to be associated is 1 second. Similarly, in a state where the remote control terminal 300A and the airplane 10 are apart from each other by the reference distance, the time calculated as the difference between the time at which the remote control terminal 300A transmits the information and the time at which the information is received by the airplane 10 is The time is a time lag corresponding to the reference distance.
In addition, the time lag calculation unit 314A specifies the current position of the airplane 10 from the latitude and longitude of the airplane 10 indicated in the acquired state information, and based on the specified position, determines the position of the airplane 10 and the remote control terminal 300A. The current distance from the position where is located is calculated.
Then, a time as a time lag associated with the reference distance closest to the current distance between the airplane 10 and the remote control terminal 300A among the plurality of reference distances is generated between the remote control terminal 300A and the airplane 10. Estimate the time as a time lag.

The storage unit 315A stores the state information and the state information received from the airplane 10 in association with the time of reception.
The storage unit 315A stores the time as the time lag, the time lag level, and the content of the remote control in association with each other. The storage unit 315A stores the content predicted by the prediction unit 317A in association with the content of the remote control. The storage contents of the storage unit 315A will be described later in detail.

  The level setting unit 316A sets the time lag level corresponding to the time as the time lag calculated by the time lag calculation unit 314A from the relationship between the time as the time lag and the time lag level stored in the storage unit 315A. Each time the time lag is calculated by the time lag calculation unit 314A, the level setting unit 316A sets a time lag level corresponding to the time calculated as the most recently calculated time lag.

The prediction unit 317A calculates the state of the airplane 10 and the state of the airplane 10 after the time as the time lag calculated by the time lag calculation unit 314A elapses from when the transmission / reception unit 311A of the remote control terminal 300A receives the state information and the status information. Predict the situation in the vicinity. The prediction unit 317A makes a prediction every time the transmission / reception unit 311A of the remote control terminal 300A receives the status information or the status information.
An example of a method of prediction by the prediction unit 317A will be described. The prediction unit 317A first quantifies the state of the airplane 10 in the latest predetermined period (for example, the last 30 seconds) from the state information stored in the storage unit 315A. This predetermined period is set as a period for specifying the tendency of the state of the airplane 10. Further, by performing a regression analysis by the least squares method on the state of the airplane 10 during the predetermined period that has been quantified, a mathematical expression that makes the state of the airplane 10 a function of time is created. Then, by substituting the time corresponding to the time after the time as the time lag has elapsed into this equation, the state of the airplane 10 after the time as the time lag has elapsed is calculated. As for the situation near the airplane 10, a mathematical expression is created from the situation information, which uses the situation near the airplane 10 as a function of time, and prediction is performed using this mathematical expression.

The invalidation setting unit 318A as an example of the restriction unit invalidates the operation of the operation unit 350A related to the remote control. Here, the remote control to be invalidated is specified by the information held in the storage unit 315A. The storage unit 315A manages remote control to be invalidated by two types of management tables (time lag level management table and prediction state management table) described later.
The invalidation setting unit 318A prevents the remote operation information transmission unit 313A from generating remote operation information when an operation relating to remote control to be invalidated is performed.

<Storage contents of storage unit>
Next, the contents stored in the storage unit 315A will be described.
FIG. 10A is a diagram illustrating an example of a time lag level management table, and FIG. 10B is a diagram illustrating an example of a prediction state management table.

The time lag level management table shown in FIG. 10A is a table for managing the time as the time lag, the time lag level, and the content of the remote control in association with each other.
In the time lag level management table, “time lag” indicates a time as a time lag. In the “time lag level”, a level corresponding to the time indicated in the “time lag” is indicated in four stages. Further, “contents to be invalidated” indicates the contents of remote control that is invalidated by the invalidation setting unit 318A.

In the time lag level management table, the longer the time indicated in “time lag”, the more remote control content is associated as “disabled content”.
As the time as the time lag becomes longer, it becomes more difficult to determine whether or not the airplane 10 is in a favorable state for remote control when actually being remotely controlled when operating the operation unit 350A of the remote control terminal 300A. Therefore, as the time as the time lag becomes longer, the remote control of more contents is set to be invalid, thereby suppressing the remote control when the airplane 10 is not preferable to be controlled.

The contents shown in the time lag level management table will be specifically described.
No content is associated with “less than 2 seconds” indicated in “time lag” as the remote control to be invalidated. Further, “2 seconds or more and less than 3 seconds” is associated with the content of remote control in which “up and down” is invalidated. Furthermore, “3 seconds or more and less than 5 seconds” is associated as content of remote control in which “ascent, descent, and turning” that is more invalid than “2 seconds or more and less than 3 seconds” are invalidated. Have been. Further, “5 seconds or more” includes remote control in which “ascent, descent, turning, acceleration, deceleration”, which is more than “3 seconds to less than 5 seconds”, is invalidated. Are associated.

The prediction state management table shown in FIG. 10B is a table for managing the state of the airplane 10 and the situation near the airplane 10 in association with the content of the remote control.
In the predicted state management table illustrated in FIG. 10B, “predicted state” indicates the state predicted by the prediction unit 317A as the state of the airplane 10 or the situation near the airplane 10. Further, “contents to be invalidated” indicates the contents of remote control that is invalidated by the invalidation setting unit 318A.

The details of the “predicted state” shown in the predicted state management table will be specifically described.
The “exceeding the first altitude” shown in the “prediction state” is a state in which the altitude of the airplane 10 has exceeded a predetermined first altitude (for example, 11000 m). Here, the first altitude is a value defined as an upper limit value of the altitude at which a stable flight of the airplane 10 is secured. If the altitude of the airplane 10 during flight exceeds the first altitude, it is not preferable that the airplane 10 further increase the altitude. Is associated with the content to be invalidated.

  “Lower than the second altitude” is a state in which the altitude of the airplane 10 is lower than a predetermined second altitude (for example, 1000 m). Here, the second altitude is a value defined as a lower limit value of the altitude at which a stable flight of the airplane 10 is secured. When the airplane 10 that has flown at an altitude equal to or higher than the second altitude becomes an altitude lower than the second altitude instead of the purpose of landing, it is not preferable that the airplane 10 further lowers the altitude. Is associated with the predicted state of “Descent” as remote control for lowering the altitude of the airplane 10.

  “Exceeding the first speed” is a state in which the speed of the airplane 10 has exceeded a predetermined first speed (for example, 780 km / h). Here, the first speed is a value defined as an upper limit value of a speed at which a stable flight of the airplane 10 is secured. When the speed of the airplane 10 during flight exceeds the first speed, it is not preferable to further increase the speed of the airplane 10. “Acceleration” is associated with the content to be invalidated.

  “Lower than the second speed” is a state in which the speed of the airplane 10 is lower than a predetermined second speed (for example, 500 km / h). Here, the second speed is a value defined as a lower limit value of the speed at which the aircraft 10 can fly stably. When the speed of the airplane 10 during flight at the rated output becomes lower than the second speed, it is not preferable that the airplane 10 further lowers the speed. “Deceleration” as the remote control for lowering the speed is associated with the content to be invalidated.

  “Other airplanes nearby” is a situation in which another airplane is flying within a radius of 10 km and a height difference of 300 m of the airplane 10. When another airplane is flying near the airplane 10 in flight, it is necessary to fly based on the exact position of the other airplane so that the airplane 10 does not approach the other airplane further. It is not preferable to operate an airplane by operation. Thus, the predicted state of “another airplane nearby” is associated with the contents in which “elevation, descent, turning, acceleration, deceleration” as all remote controls related to the movement of the airplane are invalidated.

  Note that the state where the altitude of the airplane 10 exceeds the first altitude or becomes lower than the second altitude, or the state where the speed of the airplane exceeds the first speed or becomes lower than the second speed is determined by the invalid setting unit 318A. Is regarded as a predetermined state in which remote control is restricted. In addition, a situation in which another airplane is flying near the airplane 10 is regarded as a predetermined situation in which remote control is restricted by the invalidation setting unit 318A.

<Contents of remote control disabled during flight>
Next, the contents of the remote control of the remote control terminal 300A that is invalidated during the flight of the airplane 10 will be described with reference to a screen displayed on the information display unit 330A of the remote control terminal 300A.
FIG. 11 is a diagram illustrating each point through which the airplane 10 passes during flight. 12 to 14 are diagrams illustrating a time lag notification screen 361 for notifying a time as a time lag. The time lag notification screens shown in FIGS. 12 to 14 are displayed on the information display section 330A of the remote control terminal 300A.

As shown in FIG. 11, the airplane 10 passes in the order of the point (A), the point (B), the point (C), the point (D), the point (E), and the point (F) during the flight.
FIG. 12A shows a time lag notification screen 361 displayed on the information display section 330A of the remote control terminal 300A when the airplane 10 passes through the point (A).

  A time lag notification screen 361 shown in FIG. 12A includes setting information 362 for notifying whether the remote control by the remote control terminal 300A is enabled by the remote control server 400A, and a time lag for notifying the status of the time lag. A notification unit 363 and a status notification unit 364 that notifies the status of the airplane 10 and the like are displayed. Further, on the time lag notification screen 361, a predicted state notification unit 365 for notifying the state or the like of the airplane 10 predicted after the elapse of the time as the time lag is displayed.

In the setting information 362, the characters "operation in effect" indicating that the remote control by the remote control terminal 300A is enabled by the remote control server 400A are displayed.
The time lag notification unit 363 includes a level notification unit 366 indicating the time lag level set in the level setting unit 316A, and an invalid notification unit 367 indicating the content of the remote control invalidated by the invalidation setting unit 318A. And are displayed. In addition, the time lag notification unit 363 includes a time lag time 368 indicating the time as the time lag calculated by the time lag calculation unit 314A, and a time lag corresponding to a time lag level one higher than the current time lag level. A difference time lag notification unit 369 indicating the time obtained by subtracting the time as the time lag is displayed.

The status notification unit 364 indicates the status of the airplane 10 and the status near the airplane 10 specified from the status information and the status information acquired from the airplane 10.
Specifically, the status notification unit 364 includes the speed of the airplane 10, the altitude of the airplane 10, the azimuth to which the airplane 10 is heading, the wind direction near the airplane 10, the wind speed near the airplane 10, and the distance from the airplane 10 to the destination. , The estimated time required for the airplane 10 to arrive at the destination, the temperature in the cabin of the airplane 10, and the presence or absence of another airplane near the airplane 10.

The predicted state notification unit 365 includes the state of the airplane 10 and the vicinity of the airplane 10 after the time as the time lag calculated by the time lag calculation unit 314A has elapsed since the remote control terminal 300A acquired the state information and the state information. The result predicted by the prediction unit 317A is shown as the situation in.
Specifically, the predicted state notification unit 365 includes the speed of the airplane 10, the altitude of the airplane 10, the direction to which the airplane 10 is heading, the wind direction near the airplane 10, the wind speed near the airplane 10, and the destination from the airplane 10. The prediction unit 317A predicts the distance to the airplane 10, the estimated time required for the airplane 10 to arrive at the destination, the temperature in the cabin of the airplane 10, and the presence or absence of another airplane near the airplane 10. The results obtained are shown.

  As shown in the time lag time 368, the time as the time lag calculated by the time lag calculation unit 314A is 0.1 second. Therefore, as shown in the level notification section 366, the current time lag level is set to level 1 by the level setting section 316A. In this case, as shown in the invalidation notification unit 367, the invalidation setting unit 318A does not invalidate the remote control of any content.

Subsequently, when the airplane 10 passes the point (B) (see FIG. 11), a time lag notification screen 361 shown in FIG. 12B is displayed on the information display section 330A of the remote control terminal 300A.
As shown in the time lag time 368 in FIG. 12B, the time as the time lag calculated by the time lag calculation unit 314A is 1.2 seconds. Therefore, as shown in the level notification section 366, the time lag level set by the level setting section 316A remains at level 1.

In addition, a next level invalidation notification unit 370 that notifies the contents of remote control that is invalidated by the invalidation setting unit 318A when the time lag level increases by one level is displayed on the time lag notification screen 361 in FIG. 12B. ing. The next level invalidation notifying section 370 is displayed when the time as the time lag calculated by the time lag calculating section 314A is equal to or longer than a predetermined notification time (for example, 1 second). Here, the predetermined notification time alerts the operator of the remote control terminal 300A that the remote control of the content that is not currently invalidated is invalidated when the time as the time lag becomes longer. This is a time determined as a threshold for determining that it is necessary to perform the operation.
The next level invalidation notifying section 370 shows “up” and “down” which are remote controls that are invalidated when the time lag level is set to level 2.

Subsequently, when the airplane 10 passes through the point (C) (see FIG. 11), a time lag notification screen 361 shown in FIG. 13A is displayed on the information display section 330A of the remote control terminal 300A.
As shown in the time lag time 368 of FIG. 13A, the time as the time lag calculated by the time lag calculation unit 314A is 2.1 seconds. Therefore, as shown in the level notification section 366, the time lag level is set to level 2 by the level setting section 316A. As a result, as shown in the invalidation notifying section 367, the remote control of “up” and “down” is invalidated by the invalidation setting section 318A. In addition, the information display unit 330A displays a time lag level increase notifying unit 378 for notifying that a part of remote control is restricted due to an increase in the time lag level.

  As shown in FIG. 13A, when the display of the time lag level shown in the level notification unit 366 changes, the changed time lag level is displayed in bold. Similarly, when the remote control shown in the invalidation notification unit 367 is added, the added remote control is displayed in bold.

Subsequently, when the airplane 10 passes through the point (D) (see FIG. 11), a time lag notification screen 361 shown in FIG. 13B is displayed on the information display section 330A of the remote control terminal 300A.
As shown in the time lag time 368 of FIG. 13B, the time as the time lag calculated by the time lag calculation unit 314A is 3.0 seconds. Therefore, as shown in the level notification section 366, the time lag level is set to level 3 by the level setting section 316A. As a result, as shown in the invalidation notification unit 367, the remote control of “turn” is further invalidated by the invalidation setting unit 318A. In the invalidation notification unit 367, only the remote control of “turning” that is newly invalidated among the invalidated remote controls is displayed in bold.

Subsequently, when the airplane 10 passes the point (E) (see FIG. 11), a time lag notification screen 361 shown in FIG. 14A is displayed on the information display section 330A of the remote control terminal 300A.
As shown in the status notification unit 364 of FIG. 14A, the speed of the airplane 10 is specified as 780 km / h from the status information transmitted from the airplane 10 to the remote control terminal 300A. On the other hand, as shown in the predicted state notification unit 365, the speed of the airplane 10 after the time as the time lag has elapsed since the remote control terminal 300A acquired the state information is 781 km / h by the prediction unit 317A. Is predicted. The predicted speed corresponds to “exceeding first speed” (see FIG. 10B) stored in association with “acceleration” as the content to be invalidated in storage unit 315A. Therefore, as shown in the invalidation notification unit 367, the operation related to the remote control of “acceleration” is further invalidated by the invalidation setting unit 318A.

At this time, the time lag notification screen 361 displays a specific state notification unit 371 that notifies the prediction unit 317A that the airplane 10 will be in a predetermined state. Here, the predetermined state is a state of the airplane 10 which is stored in association with the content set to be invalid in the storage unit 315A.
Further, among the information displayed on the predicted state notification unit 365, information on the state of the airplane 10 displayed on the specific state notification unit 371 (the speed of the airplane 10 in the illustrated example) is displayed in bold.

Subsequently, when the airplane 10 passes through the point (F) (see FIG. 11), a time lag notification screen 361 shown in FIG. 14B is displayed on the information display section 330A of the remote control terminal 300A.
As shown in the time lag time 368 of FIG. 14B, the time as the time lag calculated by the time lag calculation unit 314A is 5.0 seconds. Therefore, as shown in the level notification section 366, the time lag level is set to level 4 by the level setting section 316A. As a result, as shown in the invalidation notification unit 367, the invalidation setting unit 318A further invalidates the operations related to the remote control of “acceleration” and “deceleration”.
Note that even when the time lag level is set to level 4, remote control is performed using the remote control terminal 300A for control contents that are less affected by the time lag, such as the setting of the cabin temperature in the airplane 10. I can do it.

  Although illustration is omitted, when the time lag level decreases during the flight of the airplane 10, the lowered time lag level is displayed on the level notification unit 366, and the remote setting whose invalid setting by the invalid setting unit 318A has been canceled is displayed. The content of the control is not displayed from the invalidation notification unit 367. Further, when the time lag level is lowered, the time lag level rise notification unit 378 may notify that the restriction on some remote control has been released due to the lowered time lag level.

As described above, in the present embodiment, the time as a time lag occurring between the operation performed by the remote control terminal 300A and the control of the airplane 10 by this operation is calculated, and based on the calculated time, Restrict remote control.
In the present embodiment, the state of the airplane 10 after the time calculated as the time lag elapses from when the remote control terminal 300A receives the information on the state of the airplane 10 is predicted, and the prediction result is displayed on the information display unit 330A. indicate.
In the present embodiment, when the time calculated as the time lag changes, the invalid setting unit 318A changes the content of the remote control to be restricted. Here, changing the content of the remote control to be restricted includes increasing the content of the remote control to be restricted and decreasing the content of the remote control to be restricted.

<Remote control terminal switching>
Next, switching of a remote control terminal that is to remotely control the airplane 10 will be described.
FIG. 15 is a diagram showing a switching screen 372 for switching a remote control terminal to which the airplane 10 is to be remotely controlled. The switching screen 372 is displayed on an information display unit (not shown) of the remote control server 400A. FIGS. 16A and 16B are diagrams showing screens displayed on the information display unit of the remote control terminal when the remote control terminal is switched by the remote control server 400A.

  As shown in FIG. 15, the switching screen 372 includes setting information 373 for notifying whether the remote control by the remote control terminal is set to be valid in the remote control server 400A, and device status indicating the status of the remote control terminal. Information 374 is displayed. The setting information 373 and the device status information 374 are displayed for each remote control terminal.

  The device status information 374 displays the time of the installation location of the remote control terminal, the time lag level set in the remote control terminal, and the time calculated as the time lag occurring between the airplane 10 and the remote control terminal. In addition, the device status information 374 indicates the content of the remote control set to be invalid, and whether the airplane 10 is moving in a direction approaching or moving away from the remote control terminal. The device status information 374 relating to the remote control terminal (remote control terminal 300B) for which the remote control is not set to be valid by the remote control server 400A includes a valid switch for switching the remote control terminal for which the remote control is set to be valid. Button 375 is displayed.

When the operator of the remote control server 400A selects the valid switching button 375, a time lag notification screen 361 shown in FIG. 16A is displayed on the information display section 330A of the remote control terminal 300A. On the time lag notification screen 361, an invalid switching notification unit 376 indicating that remote control has been disabled by the remote control server 400A is displayed. Further, in the setting information 362, the characters “operation invalid” indicating that the remote control by the remote control terminal 300A is set to be invalid are displayed.
On the other hand, a time lag notification screen 361 shown in FIG. 16B is displayed on the information display section 330B of the remote control terminal 300B. The time lag notification screen 361 displays an effective switching notification unit 377 indicating that the remote control has been enabled by the remote control server 400A. Further, in the setting information 362, the characters “operation is valid” indicating that the remote control by the remote control terminal 300A is set to be valid are displayed.

In the present embodiment, the time lag calculation unit 314A calculates the time as the time lag based on the distance between the airplane 10 and the remote control terminal 300A, but is not limited to this.
For example, while the same time is set in the remote control terminal 300A and the airplane 10, the time as a time lag generated between the remote control terminal 300A and the airplane 10 may be measured. Specifically, the time calculated as the difference between the time at which the airplane 10 transmits information (such as state information and status information) and the time at which this information is received by the remote control terminal 300A is determined by the remote control terminal 300A and the airplane 10. It may be a time as a time lag generated between the time.

Further, the content predicted by the prediction unit 317A of the remote control terminal 300A is not limited to the example described above.
For example, the prediction unit 317A determines whether the time between the remote control terminal 300A and the airplane 10 has elapsed after the time as the time lag calculated by the time lag calculation unit 314A has elapsed since the remote control terminal 300A acquired the state information and the status information. A time as a time lag occurring between them may be predicted. In this case, the predicted time as the time lag may be displayed on the predicted state notification unit 365 (see FIG. 12A) of the time lag notification screen 361. Further, the content of the remote control set to be invalid by the invalidation setting unit 318A may be determined based on the time lag level corresponding to the time as the predicted time lag.

In the present embodiment, a configuration for calculating the time as the time lag, a configuration for predicting the state of the airplane, and a configuration for disabling the remote control are included in the main control unit 310 of the remote control terminal 300A. However, the remote control server 400A may have these configurations.
For example, the remote control server 400A may receive the remote operation information from the remote control terminal 300A and transmit the information to the airplane 10. Further, the time as the time lag, the time lag level, and the content that is invalidated by the invalidation setting unit 318A may be stored in association with each other. Then, a time as a time lag between the remote control terminal 300A and the airplane 10 is calculated, a time lag level corresponding to the calculated time as the time lag is set, and the time lag of the remote control stored in association with the set time lag level is stored. An instruction to invalidate the content may be transmitted to the remote control terminal 300A. Accordingly, the invalidity setting unit 318A of the remote control terminal 300A invalidates the operation related to the remote control specified by the instruction acquired from the remote control server 400A.

  Further, for example, when the time lag level corresponding to the calculated time as the time lag changes, the remote control server 400A issues an instruction to the remote control terminal 300A to invalidate the content of the remote control stored in association with the changed time lag level. May be sent. Thereby, the invalidity setting unit 318A of the remote control terminal 300A changes the content of the remote control to be restricted when the time calculated as the time lag changes.

Further, for example, when the remote control server 400A receives the status information and the status information from the airplane 10, the remote control server 400A predicts the status of the airplane 10 and the status in the vicinity of the airplane 10 after a lapse of time calculated as a time lag from the reception. Then, the prediction result may be transmitted to the remote control terminal 300A. As a result, the remote control terminal 300A displays the predicted result on the information display section 330A.
Further, for example, the remote control server 400A may store the content predicted as the state of the airplane 10 or the situation near the airplane 10 and the content invalidated by the invalidation setting unit 318A in association with each other. Then, an instruction to invalidate the content of the remote control stored in association with the state of the airplane 10 or the situation near the airplane 10 may be transmitted to the remote control terminal 300A. Accordingly, the invalidity setting unit 318A of the remote control terminal 300A invalidates the operation related to the remote control specified by the instruction acquired from the remote control server 400A.

  Further, the present disclosure is not limited to the above-described embodiments at all, and can be implemented in various forms without departing from the gist of the present disclosure.

S1: field system, S2: operation system, 10: airplane, 100: information acquisition device, 200: operation device, 300: operation terminal, 300A: remote control terminal, 311A: transmission / reception unit, 312A: display control unit, 313A ... Remote operation information transmitting section, 314A time lag calculating section, 315A storing section, 316A level setting section, 317A predicting section, 318A invalid setting section, 350A operating section, 330A information display section, 400 operating server , 500 ... Operator management server

Claims (8)

Transmitting and receiving means for receiving a control command for controlling the controlled device from a remote control terminal for remotely controlling the controlled device to be controlled and transmitting the control command to the controlled device;
Based on a time calculated as a time lag that occurs between an operation for remotely controlling the controlled device at the remote control terminal and the controlled device being controlled by the operation. Limiting means for limiting the remote control by the remote control terminal,
, A remote control server.   When information such as the status of the controlled device and / or the status related to the situation near the controlled device is received from the controlled device, the information after the time calculated as the time lag elapses from when the information is received. 2. The remote control server according to claim 1, further comprising prediction means for predicting a state of the controlled device and / or a situation near the controlled device.   The restricting unit is configured to control the remote control when the predicting unit predicts that the controlled device will be in a predetermined state or that a situation near the controlled device will be in a predetermined state. 3. The remote control server according to claim 2, wherein control is restricted. The controlled device is movable,
The apparatus further includes calculation means for calculating the time as the time lag at a plurality of locations where the controlled device passes while moving,
2. The remote control server according to claim 1, wherein the restricting unit changes the content of the remote control to be restricted when the time calculated as the time lag by the calculating unit changes. Operating means for performing an operation for remotely controlling the controlled device to be controlled;
When the operating means is operated, transmitting means for transmitting a control command for controlling the controlled device to the controlled device,
Limiting means for limiting the remote control based on a time calculated as a time lag generated between the time when the operation is performed by the operating means and the controlled device being controlled by the operation. ,
A remote control terminal, comprising: The controlled device is movable,
6. The remote control terminal according to claim 5, wherein the restricting unit changes the content of the remote control to be restricted when a time calculated as the time lag changes as the controlled device moves. Display means for displaying information,
When the time calculated as the time lag is equal to or longer than a predetermined first time, the restriction unit performs the restriction,
When the time calculated as the time lag is equal to or longer than a predetermined second time shorter than the first time, the display means sets the limit when the calculated time becomes equal to or longer than the first time. 7. The remote control terminal according to claim 6, wherein the content of the remote control limited to the means is displayed. A remote control terminal that receives a user operation and remotely controls a controlled device to be controlled;
A remote control server that connects the controlled device and the remote control terminal, and causes the remote control terminal to remotely control the controlled device;
With
The remote control server has transmission / reception means for receiving a control command for controlling the controlled device from the remote control terminal and transmitting the control command to the controlled device,
The remote control terminal,
When the operation is performed in the remote control terminal, a transmission unit that transmits the control command related to the operation to the remote control server,
Limiting means for limiting the remote control based on a time calculated as a time lag between the time when the operation is performed at the remote control terminal and the time when the controlled device is controlled by the operation. A remote control system, comprising: