JP2020048158A - Communication support system, robot, moving image processor, and moving image processing program - Google Patents

Abstract

To provide a communication support system, a robot, a moving image processor, and a moving image processing program that support communication between a child and a remote person in different spaces.SOLUTION: In a communication support system 5, a robot 1 comprises: a camera which outputs robot-side moving image data obtained by photographing a space; a robot-side display device which displays remote person-side moving image data received from a remote person terminal 3; and a rotation device which rotates the camera and robot-side display device in a circumferential direction. The remote person terminal 3 comprises: a remote person-side moving image transmission part which transmits the remote person-side moving image data obtained by photographing a remote person to the robot 1; a remote person-side display device which displays display moving image data corresponding to the robot-side moving image data and having an out-of-focus region, defocused in such a manner that presence of a child can be confirmed, at a right and a left end; and an operation instruction part which inputs an instruction to rotate the camera and robot-side display device in the circumferential direction to the robot 1.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a robot for photographing a space and displaying a remote person, a remote terminal used by the remote person, a communication support system for supporting communication between a child existing in the space and the remote person, a robot, and video processing. The present invention relates to an apparatus and a moving image processing program.

  With the development of communication networks and information devices in recent years, communication via video data such as video chat has become widespread. By communication via the moving image data, it is possible to realize communication similar to communication in the same space, such as communication between persons at remote locations, acquisition of a moving image at a desired angle by persons at remote locations, and the like.

  For example, there is a system in which a camera is focused on a moving direction taken by a wide-angle camera by designating a focus target in a designated direction (Patent Document 1).

JP 2017-107535 A

  However, currently widespread communication is for adults, and there is no system that supports children's communication. Since children have less developed social, cognitive and communication skills than adults, it is sometimes difficult to achieve sufficient communication even if the child's adult communication support system is applied as it is. is there.

  Accordingly, an object of the present invention is to provide a communication support system, a robot, a moving image processing device, and a moving image processing program that support communication between a child and a remote person located in different spaces.

  In order to solve the above problems, a first feature of the present invention is to provide a robot that captures a space and displays a remote person, and a remote terminal that is used by the remote person. It relates to a communication support system that supports communication of people. In the communication support system according to the first aspect of the present invention, the robot includes a camera that outputs robot-side moving image data of a space, and a robot-side display device that displays remote-side moving image data received from a remote terminal. A remote device for transmitting a remote person moving image data obtained by photographing a remote person to the robot; and a robot side moving image data. In response to the above, a remote person side display device that displays display moving image data having a blurred area at the left and right ends so that the presence of a child can be confirmed, and a camera and a robot side display device in the circumferential direction. An operation instruction unit for inputting an instruction to rotate.

  The blurred region may correspond to a range outside the range in which the child perceives the child being seen by the robot-side display device in the left-right direction.

  The display moving image data may be data obtained by blurring an area corresponding to the blurred area of the robot-side moving image data by image processing.

  A filter that blurs the space is provided at a position corresponding to the blur region of the camera lens, and the robot-side moving image data output by the camera may be display moving image data.

  The operation instruction unit of the remote terminal may input an instruction to the robot so that the child is shown in the non-blur area at the center of the display moving image data.

  The robot may move.

  The non-blurred area at the center of the display moving image data has a display surface photographing area that photographs the space side of the display surface of the robot side display device, and when the object approaches the robot side display device, the object approaches the robot side display device. The display surface photographing area may be displayed wider than before.

  The camera shoots the space with a fisheye lens, and the display surface shooting area is provided at the edge of the shooting area of the fisheye lens, and when the object approaches the robot side display device, compared to before the object approaches the robot side display device, The distortion in the display surface shooting area may be strongly corrected.

  The non-blurred area at the center of the display moving image data is a child space shooting area where a space where a child communicating with the robot is located, a display surface shooting area where the space side of the display surface of the robot side display device is shot, and a non-blurred area. Of the blurred area, the image capturing apparatus has a background shooting area obtained by shooting an area other than the child space shooting area and the display surface shooting area, and the child space shooting area and the display surface shooting area are displayed in an enlarged manner in comparison with the background shooting area. May be.

  A second feature of the present invention is a communication support system including a robot for photographing a space and displaying a remote person, and a remote terminal used by the remote person, and supporting communication between a child existing in the space and the remote person. About. In the communication support system according to the second aspect of the present invention, the robot includes a camera that outputs robot-side moving image data of a space and a robot-side display device that displays remote-side moving image data received from a remote terminal. The remote terminal includes a remote person moving image transmitting unit that transmits remote person moving image data of the remote person to the robot, and a remote person side display device that displays display moving image data corresponding to the robot side moving data. The displayed moving image data has a space shooting region where the space is shot and a display surface shooting region where the space side of the display surface of the robot side display device is shot, and when the object approaches the robot side display device, the object moves to the robot side. The display surface shooting area is displayed wider than before approaching the display device.

  The camera shoots the space with a fisheye lens, and the display surface shooting area is provided at the edge of the shooting area of the fisheye lens, and when the object approaches the robot side display device, compared to before the object approaches the robot side display device, The distortion in the display surface shooting area may be strongly corrected.

  A third feature of the present invention is a communication support system including a robot that photographs a space and displays a remote person, and a remote terminal used by the remote person, and supports communication between a child existing in the space and the remote person. The present invention relates to a robot used for: In the robot according to the third aspect of the present invention, the remote terminal transmits the remote-side moving image data of the remote person to the robot, and the moving-image data of the space. The display moving image data having a blurred area that is blurred to the extent that the presence can be confirmed is displayed, and the robot sets a filter that blurs the space at the position of the lens corresponding to the blurred area, and displays the display moving image data obtained by capturing the space. It may include a camera for outputting, a robot side display device for displaying remote side moving image data received from the remote terminal, and a rotating device for rotating the camera and the robot side display device in the circumferential direction.

  A fourth feature of the present invention includes a robot that photographs a space and displays a remote person, a remote terminal used by the remote person, and a moving image processing device that processes display moving image data displayed on the remote terminal. The present invention relates to a moving image processing device used in a communication support system that supports communication between a child existing in a space and a remote person. In the communication support system using the moving image processing device according to the fourth aspect of the present invention, the robot displays a camera that outputs robot-side moving image data of a space, and displays remote-side moving image data received from a remote terminal. A remote side terminal that transmits a remote side moving image data of a remote person to the robot. And a remote person side display device for displaying display moving image data having a blurred area at the left and right ends corresponding to the robot side moving image data so that the presence of a child can be confirmed. An operation instruction unit for inputting an instruction to rotate the display device in the circumferential direction, wherein the moving image processing device The region, blurring the image processing comprises a robot-side video processing unit for generating display video data.

  A fifth feature of the present invention includes a robot that photographs a space and displays a remote person, a remote terminal used by the remote person, and a moving image processing device that processes display moving image data displayed on the remote terminal. The present invention relates to a moving image processing device used in a communication support system that supports communication between a child existing in a space and a remote person. In the communication support system using the moving image processing device according to the fifth aspect of the present invention, the robot displays a camera that outputs robot side moving image data of a space and a remote person side moving image data received from a remote terminal. A remote side terminal that transmits a remote side moving image data of a remote person to the robot, and a remote side that displays display moving image data processed from the robot side moving image data. The display moving image data has a display surface photographing area that photographs the space side of the display surface of the robot side display device, and the moving image processing device is configured to display an object when the object approaches the robot side display device. Is provided with a robot-side moving image processing unit for processing so that the display surface photographing area is larger than before approaching the robot-side display device.

  A sixth aspect of the present invention relates to a moving image processing program that causes a computer to function as a moving image processing device according to the fourth or fifth aspect of the present invention.

  A seventh feature of the present invention is a communication support system including a robot for photographing a space and displaying a remote person, and a remote terminal used by the remote person, and supporting communication between the child and the remote person existing in the space. A camera for outputting robot-side moving image data of a space, and a robot-side display device for displaying remote-side moving image data received from a remote terminal, and the viewing angle above the camera is , Expression (1), and the viewing angle below the camera is expressed by Expression (2).

  According to the present invention, it is possible to provide a communication support system, a robot, a moving image processing device, and a moving image processing program that support communication between a child and a remote person located in different spaces.

1 is a system configuration diagram of a communication system according to an embodiment of the present invention. FIG. 6 is a sequence diagram illustrating processing of the communication system according to the embodiment of the present invention. FIG. 2 is a diagram illustrating an appearance of the robot according to the embodiment of the present invention. FIG. 3 is a diagram illustrating display moving image data according to the embodiment of the present invention. FIG. 4 is a diagram illustrating a mode applied to display moving image data according to the embodiment of the present invention. FIG. 7 is a sequence diagram illustrating a process related to an instruction transmitted by a remote terminal and a mode change in the communication system according to the embodiment of the present invention. FIG. 2 is a diagram illustrating functional blocks and a hardware configuration of the robot according to the embodiment of the present invention. FIG. 3 is a diagram illustrating specifications of the robot according to the embodiment of the present invention. FIG. 2 is a diagram illustrating functional blocks and a hardware configuration of the moving image processing device according to the embodiment of the present invention. FIG. 4 is a diagram illustrating an example of a data structure and data of change condition data according to the embodiment of the present invention. FIG. 3 is a diagram illustrating functional blocks and a hardware configuration of a remote terminal according to the embodiment of the present invention. FIG. 9 is a diagram illustrating a lens of a camera of a robot according to a first modification. FIG. 14 is a sequence diagram illustrating a process according to a first modification. FIG. 3 is a diagram illustrating an example of a robot in which cameras are distributed at two locations. FIG. 3 is a diagram illustrating an example of a robot in which a camera has two lenses.

  Next, an embodiment of the present invention will be described with reference to the drawings. In the following description of the drawings, the same or similar parts are denoted by the same or similar reference numerals.

(Communication support system)
The communication support system 5 according to the embodiment of the present invention supports communication between a child and a remote person located in different spaces.

  In the embodiments of the present invention, a child is used for a person who has not developed social, cognitive and communication skills. In general, a child is assumed to be about 6 months to 6 years old, but the age may not be limited. Also, a person having the ability of a child or more may use the communication support system 5. The distant person is, for example, a grandparent of a child or the like, and is an adult having social, cognitive, and communication skills. The distant person is located in a different space from the child and communicates with the child.

  A communication support system 5 according to an embodiment of the present invention includes a robot 1, a moving image processing device 2, and a remote terminal 3, as shown in FIG. The robot 1 and the moving image processing device 2 are connected by a mutually communicable communication network such as the Internet. The moving image processing device 2 and the remote terminal 3 are also connected by a communication network capable of communicating with each other.

  The robot 1 is arranged in a space where a child is located, captures an image of the space, and displays a remote person. The remote terminal 3 is used by the remote person to photograph the remote person and display moving image data in a space where the child is located. The moving image processing device 2 relays both moving image data between the robot 1 and the remote terminal 3 and processes the moving image data as needed.

  With reference to FIG. 2, an outline of processing in communication support system 5 according to the embodiment of the present invention will be described.

  In step S <b> 1, the robot 1 transmits to the moving image processing device 2 the robot side moving image data B of the space where the child is located. In step S2, the moving image processing device 2 processes the robot-side moving image data B to generate display moving image data D. Each frame of the robot side moving image data B corresponds to each frame of the display moving image data D. The processing performed here is for appropriately transmitting the space and the state of the child to the remote person. In step S3, the moving image processing device 2 transmits the display moving image data D generated in step S2 to the remote terminal 3.

  In step S <b> 4, the remote person terminal 3 transmits the remote person side moving image data G of the remote person to the moving image processing device 2. In step S5, the moving image processing device 2 transmits the remote-side moving image data G received in step S4 to the robot 1.

  In step S6, the robot 1 reproduces the remote person-side moving image data G received in step S5, and displays the obtained moving image. In step S7, the remote terminal 3 reproduces the display moving image data D received in step S3 and displays the obtained moving image.

  The child communicates with the remote person while watching the remote-side moving image data G displayed on the robot 1. Further, the remote person communicates with the child while watching the display moving image data D reflecting the state of the child.

  In the embodiment of the present invention, transmission and reception of each moving image data shown in FIG. 2 is continuously performed during a start and end instruction input by a remote person or the like. The remote person is displayed on the robot 1 in real time, and the space where the child is located is displayed on the remote terminal 3 in real time. Note that “real time” allows not only the exact same time, but also a delay due to a device or communication environment through which moving image data is transmitted and received.

  As shown in FIG. 3A, the robot 1 according to the embodiment of the present invention includes a part simulating a face and a part simulating a torso, and has a shape similar to a person as a whole. It is preferable that the robot 1 is not only a human but also an animal, such as a dog, a bird, or a fish, or a character such as an animation, a doll, a stuffed animal, or the like, which resembles a communication target shape of a child in daily life.

  The robot 1 includes a camera 130, a robot-side display device 140, a speaker 170, and a support base 180, as shown in FIG. The camera 130 photographs the space where the child is located, and notifies the remote terminal 3 of the state of the space where the child is located. The robot-side display device 140 displays the state of the remote person photographed by the remote person terminal 3, and allows the child to recognize the communication partner. The speaker 170 outputs a sound generated by the remote terminal 3.

  As shown in FIG. 3B, the support base 180 is formed so as to open to the opposite side of the housing of the robot 1 so that an object such as a toy can be placed therein. In the embodiment of the present invention, the support base 180 has a deep pocket shape, but is not limited to this. The support base 180 may be a flat base or the like, and may be capable of installing a toy. It is preferable that the toy installed on the support base 180 be photographed by the camera 130.

  In the embodiment of the present invention, the lens of the camera 130 installed in the robot 1, the display surface of the robot-side display device 140, and the support 180 are formed symmetrically. More specifically, the left and right center lines of the lens of the camera 130, the left and right center lines of the display surface of the robot-side display device 140, and the left and right center lines of the support base 180 are perpendicular to the ground plane of the robot 1. It is provided on a virtual plane. Note that the lens of the camera 130 installed in the robot 1, the display surface of the robot-side display device 140, and the support base 180 are formed symmetrically by way of example, and the present invention is not limited to this. For example, even when the position of the camera 130 deviates from left-right symmetry, the image data captured by the camera 130 may be converted into an image captured left-right symmetrically by the viewpoint conversion process.

  In addition, the robot 1 can perform operations such as movement and rotation in the circumferential direction. The movement is not limited to the horizontal movement of the floor on which the robot 1 is installed, and various movements such as over a step and flying in space are possible. In the circumferential rotation, the robot 1 itself may rotate, or only the camera 130 and the robot-side display device 140 may rotate. The rotation of the camera 130 in the circumferential direction makes it possible to photograph the entire space. In addition, an effect as if a remote person is rotating can be expressed by the rotation of the robot-side display device 140 in the circumferential direction. It is preferable that a mechanism necessary for movement or rotation is housed inside the robot 1 and formed so that it is difficult for a child to touch.

  The robot 1 can also operate by remote operation by the remote terminal 3. Thereby, the robot 1 can act as a moving object on behalf of a remote person in the space where the child exists. For example, by instructing the robot 1 to move to the remote terminal 3, communication such as approaching a child or chasing after a child becomes possible.

(Display video data)
Each frame of the display moving image data D displayed on the remote terminal 3 has a non-blurred area R1 at the center and a blurred area R2 at the left and right ends, as shown in FIG. The space is clearly displayed in the non-blur region R1, and the blur region R2 is blurred to the extent that the presence of a child can be confirmed.

  In the embodiment of the present invention, the moving image processing device 2 performs a process of setting a blur region R2 in each frame of the robot-side moving image data B. As a result, a blur region R2 is set at the left and right ends of each frame of the display moving image data D.

  When a remote person starts communication with a child, the camera 130 of the robot 1 must be in a positional relationship to capture the child. Therefore, the remote terminal 3 first rotates the robot 1 in the circumferential direction, searches for a child, and adjusts the direction of the robot 1 so that the child enters the non-blurred area R1 in the center of the frame. If the presence of a child cannot be confirmed in the blurred area R2, the remote terminal 3 can input an instruction to rotate the robot 1 quickly and quickly search for the presence of a child. When the presence of a child can be confirmed in the blurred area R2, the remote terminal 3 can input an instruction to rotate the robot 1 slowly. Thereby, the operability for adjusting the position of the robot 1 in the remote terminal 3 is improved. Further, even if the remote person is unfamiliar with remote operation, the position of the robot 1 can be appropriately adjusted. When the child enters the non-blurring area R1, the remote terminal 3 may further adjust the distance to the child, such as moving away from the child or approaching the child.

  As another example, a mode in which only the non-blur region R1 is displayed without providing the blur region R2, such as blacking or cutting out the blur region R2, can be considered. In this case, the remote terminal 3 must rotate the robot 1 so that the child enters the non-blurring area R1, the visual sense in the horizontal direction is narrowed, and the operability of the remote terminal 3 is reduced. On the other hand, by providing a blurred area R2 blurred to the extent that the presence of a child can be confirmed at the left and right ends of the non-blurred area R1, the remote terminal 3 matches the non-blurred area R1 with the blurred area R2. You can search for children in a large area. Also, while the child is located in the non-blurred area R1 and the child and the remote person are communicating, the remote person cannot clearly see the blurred area R2. We can focus on R1.

  In order to realize communication between the child and the remote person, the communication support system 5 includes a range in which the child recognizes that the robot 1 is looking at the robot and a range in which the child is clearly displayed (the non-blur region R1). ) Is formed to match. In the embodiment of the present invention, not only the case where the range in which the child recognizes that the child is seen by the robot 1 and the non-blurred region R1 match, but also the case where the difference is small enough not to hinder communication. Including.

  There is an experimental value that the standard of the range in which an adult recognizes that the robot is viewed by the robot-side display device 140 is 47 degrees (94 degrees in total) to the left and right from the center of the robot-side display device 140. In the embodiment of the present invention, the range in which the child recognizes that the child is looking at the robot-side display device 140 is set in the same manner as the experimental value.

  If the range that the child recognizes as being seen by the robot 1 matches the range of the non-blurred region R1 of the display moving image data D displayed on the remote terminal 3, the child in the non-blurred region R1 is a remote person. Recognizes and communicates easily with remote people. The remote person properly confirms the child's communication, and the child can communicate with the remote person with the consciousness seen by the remote person.

  On the other hand, when the range in which the child recognizes that the child is seen by the robot 1 is wider than the non-blurred area R1 of the display moving image data D, the child recognizes a distant person outside the blurred region R2 of the display moving image data D or the shooting range. I do. In this case, a one-way approach from the child to the remote person occurs, and communication is not established. Also, if the non-blurring area R1 is wider than the range in which the child is recognized by the robot 1, the child is recognized as being viewed by the remote person even if the child is displayed on the remote terminal 3. May not be able to do so and may recognize that the remote person is looking at something other than a child. In this case, one-sided action from the remote person to the child occurs, and communication is not established.

  Therefore, in the embodiment of the present invention, the non-blurred area R1 is formed so as to coincide with a range in which the child recognizes that the child is seen by the robot 1. The blur region R2 corresponds to a range outside the range in which the child feels watching the child on the robot-side display device 140 in the left-right direction (circumferential direction). The remote terminal 3 adjusts the position or orientation of the robot 1 so that the child is displayed in the non-blurring area R1. Since the remote terminal 3 can display the child communicating with the remote in the non-blurring area R1, it is possible to prompt appropriate communication between the child and the remote.

  According to the knowledge of the inventor, as a feature of communication frequently observed by children, as shown in FIG. 3B, the user touches the robot-side display device 140 with his hand or presses a toy on the robot-side display device 140. There is an action such as putting a toy on the support base 180. Therefore, the display moving image data D displayed on the remote terminal 3 is appropriately processed by the moving image processing device 2 so that the visibility of the behavior of the child and the information of the toy can be secured.

  Specifically, the camera 130 of the robot 1 has a fisheye lens capable of photographing a wide space including a space where a child is located together with the display surface of the robot-side display device 140 and the support base 180. The robot-side moving image data B captured by the fisheye lens can include the behavior of the child, a toy that the child brought close to the robot 1, and the like. A dialogue on actions becomes possible.

  As shown in FIG. 4B, the non-blurred area R1 is an image of a child space imaging area R11 in which a space where a child communicating with the robot 1 is located and an image of the space side of the display surface of the robot-side display device 140. And a background photographing area (not shown). The child space shooting area R11 is an area where it is possible to check how the child is active away from the robot 1, and the display surface shooting area R12 is where a toy pressed by the child against the display surface or a toy placed on the support base 180 can be checked. Area. The background photographing region is a region other than the child space photographing region R11 and the display surface photographing region R12 in the non-blurring region R1, and includes, for example, a photographing range of the camera 130 such as a ceiling portion of a space where a child is located. It is an area where children cannot move.

  In the embodiment of the present invention, the display surface of the robot-side display device 140 and the support table 180 are provided below the camera 130. The toy approached to the robot-side display device 140 and the toy installed on the support base 180 are photographed in the display surface photographing region R12 below the frame. The moving image processing device 2 generates display moving image data D by performing processing for enlarging or reducing the child space shooting area R11 or the display surface shooting area R12, in addition to the processing for providing the blur area R2. The process of enlarging or reducing the child space imaging region R11 or the display surface imaging region R12 may be performed according to an explicit instruction from the remote terminal 3, or the moving image processing device 2 may monitor the robot side moving image data B. May be performed when a predetermined condition is satisfied.

  In the embodiment of the present invention, the display moving image data D has a plurality of modes for enlarging or reducing the child space imaging region R11 or the display surface imaging region R12 as shown in FIG. The image in each mode at the time of non-contact shown in FIG. 5 is obtained by correcting frame data in which the toy is not pressed against the display surface among the frame data of the robot-side moving image data B according to each mode. The image in each mode at the time of contact is obtained by correcting the frame data of the toy pressed against the display surface among the frame data of the robot-side moving image data B according to each mode.

  In the embodiment of the present invention, modes for processing the display moving image data D include a child-oriented mode, a toy-oriented mode, and a child toy-oriented mode. Note that the mode shown in FIG. 5 is an example, and the present invention is not limited to this mode. Other modes may be appropriately set according to the frame processing policy.

  In the child-oriented mode, the child space shooting region R11 is displayed large, and the display surface shooting region R12 is displayed small. In the toy emphasis mode, the child space shooting region R11 is displayed small, and the display surface shooting region R12 is displayed large. In the child toy emphasis mode, both the child space shooting region R11 and the display surface shooting region R12 are displayed large.

  As shown in FIG. 5, when the toy is out of contact, each child in the child space shooting region R11e in the child emphasis mode and the child space shooting region R11e in the child toy emphasis mode becomes a child space shooting region R11c in the toy emphasis mode. Displayed larger than children. By generating the display moving image data D in the child emphasis mode and the child toy emphasis mode, a remote person can check the state of the child with high image quality.

  On the other hand, at the time of contact with the toy, the toy pressed against the display surface of the robot-side display device 140 in the display surface shooting region R12d in the toy emphasis mode and the display surface shooting region R12f in the child toy emphasis mode becomes the display surface in the child emphasis mode. It is displayed larger than the shooting region R12b. In the example of FIG. 5, the toy is a ball. Thereby, the remote person can check the shape of the toy, the characters displayed on the toy, and the like, and can talk about the toy owned by the child.

  Further, at the time of contact with the toy, the toy pressed against the display surface in the display surface photographing region R12d in the toy emphasis mode is displayed larger than the display surface photographing region R12f in the child toy emphasis mode. The toy emphasis mode is suitable for specifying a toy pressed against the display surface, a toy installed on the support base 180, and the like.

  Note that the moving image processing apparatus 2 may also perform processing such as reduction of an area other than the child space imaging area R11 and the display surface imaging area R12 or deletion of an edge in order to correspond to each mode. For example, an area not photographed by the fisheye lens is provided at an edge portion such as the upper left of the image in the child-oriented mode, but the entire image is photographed in the toy-oriented mode. This is due to the enlargement of the central portion of the shooting area with the fisheye lens in the toy emphasis mode.

  Further, the notation of large, medium, and small of the area size in each mode shown in FIG. 5 means that the area size is enlarged or reduced as compared with the area in each frame of the robot-side moving image data B before being processed by the moving image processing device 2. . For example, in the toy emphasis mode, the display surface shooting region R12 is displayed larger than the region corresponding to the display surface shooting region R12 in the frame of the robot-side moving image data B. Further, the feature of the area size in each mode may be expressed by a method other than the expression shown in FIG. For example, the feature of the region size in each mode may be represented by comparing the photographing regions of the child space photographing region R11 and the display surface photographing region R12. Further, in each mode, each frame of the robot-side moving image data B may be uniformly enlarged, and thereafter, processing for enlarging or reducing may be performed.

  With reference to FIG. 6, the processing of the communication support system 5 during communication between a child and a remote person will be described.

  When the remote terminal 3 inputs the operation instruction of the robot 1 in step S11, the moving image processing device 2 transmits the operation instruction acquired in step S11 to the robot 1 in step S12. The operation instruction is a movement instruction instructing the movement of the robot 1, a rotation instruction instructing the rotation of the robot 1, or the like. In step S13, the robot 1 operates according to the acquired operation instruction.

  Here, the moving instruction may include various setting values such as a moving direction, a distance, and a speed. The rotation instruction may include various setting values such as a speed at the time of rotation, a rotation angle, and the like. Further, the moving image processing device 2 may convert the operation instruction transmitted by the remote terminal 3 into a format that can be distinguished by the robot 1 and transmit the operation instruction. In the example illustrated in FIG. 6, the case where the remote terminal 3 transmits the operation instruction has been described, but the moving image processing apparatus 2 autonomously transmits the operation instruction based on the content of the robot-side moving image data B without the instruction of the remote terminal 3. Alternatively, an operation instruction may be transmitted to the robot 1.

  In step S14, an instruction for the remote terminal 3 to specify the mode of the display moving image data D is transmitted. In step S15, the moving image processing apparatus 2 processes the robot-side moving image data B in the mode specified in step S14, and transmits the display moving image data D processed in the mode specified in step S16.

  In step S17, the moving image processing device 2 monitors the robot-side moving image data B and, when detecting a mode change condition, processes the robot-side moving image data B in the detected mode. In step S18, the moving image processing device 2 transmits the display moving image data D processed in the mode detected in step S17.

  The moving image processing device 2 determines in advance conditions for applying a predetermined mode, as shown in FIG. 10 described later. The moving image processing device 2 monitors the robot side moving image data B and determines whether or not the predetermined condition is satisfied. When the condition is met, the robot-side moving image data B is processed to generate the display moving image data D in the mode applied at the time of the condition. Accordingly, the moving image processing device 2 changes the mode in response to the movement of the child, such as changing to the toy emphasis mode when the child approaches the display surface and changing to the toy emphasis mode when the child further approaches the display surface. Make changes and support communication between children and distant people.

(robot)
With reference to FIG. 7, the computer function of the robot 1 according to the embodiment of the present invention will be described. The robot 1 is equipped with a device having a general computer such as a storage device 100, a processing device 110, an input / output control device 120, a communication control device 150, and other devices that can be connected to the computer. The devices are the camera 130, the robot-side display device 140, the moving device 160, and the rotating device 161. These devices may be built in the computer or connected externally.

  The storage device 100 is a read only memory (ROM), a random access memory (RAM), a hard disk, or the like, and stores various data such as input data, output data, and intermediate data for the processing device 110 to execute processing. . The processing device 110 is a CPU (Central Processing Unit), which reads and writes data stored in the storage device 100 and inputs and outputs data to and from the input / output control device 130, and performs processing in the computer of the robot 1. Execute.

  The input / output control device 120 controls input / output between the processing device 110 and devices connected to the computer. For example, the input / output control device 120 relays data from the processing device 110 to the device, and relays data from the device to the processing device 110.

  As described with reference to FIG. 4, the camera 130 captures an image of a space where a child exists, and outputs robot-side moving image data B of the captured space. The camera 130 has a fish-eye lens so that it can photograph not only the space where the child is present but also a toy pressed against the display surface of the robot-side display device 140 or a toy placed on the support base 180.

  The robot side display device 140 displays the remote person side moving image data G received from the remote person terminal 3 as described with reference to FIG. More specifically, the robot-side display device 140 displays a moving image acquired based on the remote-side moving image data G.

  The communication control device 150 is an interface for the robot 1 to communicably connect to the moving image processing device 2.

  The moving device 160 is a device for the robot 1 to move. The rotation device 161 is a device for rotating the robot 1 in the circumferential direction. In the embodiment of the present invention, the mechanism of the moving device 160 and the rotating device 161 may be any, and the specific configuration does not matter.

  The rotation device 161 rotates the camera 130 and the robot-side display device 140. The rotation device 161 rotates the camera 130 and the robot-side display device 140 in synchronization with each other so that the relationship between the directions does not change. In the embodiment of the present invention, the rotation device 161 is provided in the housing of the robot 1, so that by rotating the robot 1, the camera 130 and the robot-side display device 140 rotate in synchronization.

  The storage device 100 stores the robot side moving image data B and the remote person moving image data G.

  The processing device 110 includes a robot-side moving image transmitting unit 111, a remote person-side moving image reproducing unit 112, and an operation instruction executing unit 113.

  The robot-side moving image transmitting unit 111 acquires the robot-side moving image data B captured by the camera 130 and transmits the obtained robot-side moving image data B to the moving image processing device 2.

  The remote person side moving image reproducing unit 112 receives the remote person side moving image data G from the moving image processing device 2, reproduces the received remote person side moving image data G, and displays it on the robot side display device 140.

  The operation instruction execution unit 113 receives the operation instruction input by the remote terminal 3 via the moving image processing device 2, and drives the moving device 160 or the rotating device 161 according to the operation instruction. The operation instruction execution unit 113 moves the robot 1 forward or rotates the robot, for example. This allows the remote person to move the robot 1 as desired, thereby obtaining a desired field of view and communication with the child.

  Although not shown in FIG. 7, the robot 1 may include an input device. The input device receives an input from a child or a guardian of the child, and inputs an instruction to the processing device 110 via the input / output control device 120. The input device is a button provided on the housing of the robot 1, a touch panel mounted on the robot-side display device 140, or the like. Although not shown in FIG. 7, the robot 1 includes a speaker 170 and a support 180 as shown in FIG. Further, the robot 1 may further include a driving device such as a motor for driving the support table 180.

  As the driving of the support table 180, opening and closing, movement, and the like of the support table 180 can be considered. As shown in FIG. 3A, the support table 180 is opened and closed from a state where the support table 180 is closed and the inside of the support table 180 is not visible, as shown in FIG. 1 to change to a state in which an object can be stored inside the support base 180. The opening and closing of the support 180 includes a change from an open state to a closed state of the support 180. The movement of the support table 180 means that the support table 180 moves up and down or left and right within a range that does not collide with the housing of the robot 1.

  The driving of the support 180 may be instructed by the remote terminal 3. When it is confirmed from the display moving image data D that the object has been stored in the support base 180 with the support base 180 open as shown in FIG. 3B, the remote terminal 3 closes the support base 180. The instruction is transmitted to the robot 1, and the driving device of the robot 1 closes the support table 180. Thus, it is possible to produce an effect as if the child presented an object to the remote person via the support 180. Further, the remote terminal 3 transmits an instruction to open the support table 180 to the robot 1, and the robot 1 opens the support table 180, so that the child can take out the object. Thus, it is possible to perform an effect as if a remote person presented an object to the child via the support 180. As described above, the support base 180 is opened and closed by the driving device, and the remote terminal 3 controls the drive of the support base 180, so that communication between the child and the remote person can be supported.

  With reference to FIG. 8, the specification of the lens of the camera 130 of the robot 1 according to the embodiment of the present invention will be described. The lens of the camera 130 needs to photograph a child at a predetermined distance and a toy placed on the support surface and the display surface of the robot-side display device 140 located below the lens.

Therefore, the lens of the camera 130 is required to have a wide angle view in the vertical direction. Specifically, the minimum value of the viewing angle θ _U above the lens of the camera 130 is expressed by Expression (1), and the minimum value of the viewing angle θ _D below the lens of the camera 130 is expressed by Expression (2). expressed.

Note that D _disp-ch is assumed to be a distance when a child sits in front of the robot 1 and communicates with a remote person, or a distance where the hand touches the robot-side display device 140 when reaching. When the height of the child is 80 cm, D _disp-ch is set to a value of about 20 to 30 cm.

  Further, the horizontal viewing angle of the lens of the camera 130 is set to be wider than the range in which the child feels that the child is looking at the robot-side display device 140. In the embodiment of the present invention, the lens of the camera 130 installed on the robot 1 and the display surface of the robot-side display device 140 are formed bilaterally symmetrically, and the camera is located immediately above the display surface of the robot-side display device 140. 130 lenses are installed. Therefore, the range where the child feels that the child is looking at the robot side display device 140 and the range where the child photographed by the lens of the camera 130 feels that the child is looking at the robot side display device 140 can be approximated. In the embodiment of the present invention, the angle at which the child recognizes that the child is viewed from the robot-side display device 140 is 47 degrees (94 degrees in total) from the center of the display surface of the robot-side display device 140 to each of the left and right sides. There is.

  Accordingly, the horizontal viewing angle of the lens of the camera 130 is secured as 47 degrees in the left and right directions from the center of the lens as the non-blurring area R1. The horizontal viewing angle of the lens is an angle obtained by adding an angle required for the blurring region R2 to 47 degrees in each of the left and right directions.

(Movie processing device)
With reference to FIG. 9, the moving image processing device 2 according to the embodiment of the present invention will be described. The moving image processing device 2 is a general computer including a storage device 200, a processing device 210, and a communication control device 220. When a general computer executes the moving image processing program, the functions shown in FIG. 9 are realized.

  The storage device 200 is a ROM, a RAM, a hard disk, or the like, and stores various data such as input data, output data, and intermediate data for the processing device 210 to execute processing. The processing device 210 is a CPU, and executes processing in the moving image processing device 2 by reading and writing data stored in the storage device 200 and inputting and outputting data to and from the communication control device 220. The communication control device 220 is an interface for the moving image processing device 2 to communicably connect with the robot 1 and the remote terminal 3.

  The storage device 200 stores the change condition data 201. As shown in FIG. 10, the change condition data 201 is data in which a condition is associated with a mode applied under the condition. When the condition of the change condition data 201 is satisfied, the moving image processing device 2 processes the robot-side moving image data B in a mode associated with the satisfied condition to generate display moving image data D. Although not shown, the storage device 200 may store the robot side moving image data B, the display moving image data D, the remote person moving image data G, and the like.

  The processing device 210 includes a remote person-side moving image relay unit 211, an operation instruction relay unit 212, and a robot-side moving image relay unit 213.

  The remote person side moving image relay unit 211 transmits the remote person side moving image data G transmitted by the remote person terminal 3 to the robot 1. In the embodiment of the present invention, it is assumed that the remote-side moving image relay unit 211 transmits the received moving image data without processing, but the received moving image data may be processed as needed.

  The operation instruction relay unit 212 transmits the operation instruction of the robot 1 transmitted by the remote terminal 3 to the robot 1. The operation instruction is, for example, movement or rotation of the robot 1. The operation instruction relay unit 212 may perform a change such as converting data received from the remote terminal 3 into another data format.

  The robot-side moving image relay unit 213 receives the robot-side moving image data B received from the robot 1. The robot-side moving image relay unit 213 performs predetermined image processing on the robot-side moving image data B by the robot-side moving image processing unit 214 to generate display moving image data D. Further, the robot-side moving image relay unit 213 transmits the generated display moving image data D to the remote terminal 3.

  The robot-side moving image processing unit 214 processes the robot-side moving image data B received from the robot 1 into display moving image data D that can be easily viewed by a remote person. In the embodiment of the present invention, the robot-side moving image processing unit 214 generates display moving image data D by performing (1) left and right edge blurring processing and (2) mode conversion processing. Note that (1) the left and right end blur processing is processing of the blur area R2 of the robot-side moving image data B, and (2) the mode conversion is processing of the non-blur area R1 of the robot-side moving image data B. These processings may be performed in parallel, and the processing results may be combined to generate a frame of the display moving image data D.

(1) Blur processing of left and right ends When the robot-side moving image processing unit 214 acquires the frame data of the robot-side moving image data B without blur from the robot 1, it performs a blurring process on the left and right ends. The robot-side moving image processing unit 214 blurs an area corresponding to the blur region R2 of the robot-side moving image data B shown in FIG. The robot-side moving image processing unit 214, for example, smoothes the feature value given to each pixel in the robot-side moving image data B, converts it into a plurality of pixel feature values, and lowers the sharpness of the blurred region R2. At this time, the robot-side moving image processing unit 214 does not know the details of the child in the blurred area R2, but lowers the sharpness of the blurred area R2 to such an extent that the child is present.

(2) Mode Conversion The robot-side moving image processing unit 214 converts the robot-side moving image data B into moving image data corresponding to each mode described with reference to FIG. The robot-side moving image processing unit 214 first processes the robot-side moving image data B according to a default mode. The default mode is a child-oriented mode as shown in FIG.

  After that, the robot-side moving image processing unit 214 appropriately converts the mode according to the instruction from the remote terminal 3 or the content of the robot-side moving image data B. When the instruction to specify the mode is transmitted from the remote terminal 3, the robot-side moving image processing unit 214 processes the robot-side moving image data B in the specified mode. The robot-side moving image processing unit 214 monitors a change in the moving image of the robot-side moving image data B, and processes the robot-side moving image data B according to the condition and mode specified by the change condition data 201.

  For example, when an object such as a child or a toy approaches the display surface of the robot-side display device 140, the display-surface imaging region R12 becomes wider than before the object approaches the robot-side display device 140. Process as shown. If there is a predetermined change (δ) in the display surface shooting region R12 of the robot-side moving image data B, it is considered that the child has approached the display surface shooting region R12 or has brought something close to the display surface shooting region R12. In this case, the robot-side moving image processing unit 214 processes the moving image into the display moving image data D in which both the child space shooting region R11 and the display surface shooting region R12 are easy to see in the child toy emphasis mode.

  Further, if there is a further change (δ ′> δ) in the display surface shooting region R12, it is considered that a child or a toy has come closer to the display surface shooting region R12. In this case, the robot-side moving image processing unit 214 processes the display moving image data D into the display moving image data D in which the display surface photographing region R12 is particularly easily seen in the toy emphasis mode.

  Further, the robot-side moving image processing unit 214 processes the child space shooting region R11 and the display surface shooting region R12 such that the child space shooting region R11 and the display surface shooting region R12 are displayed larger than the background shooting region regardless of the state of the robot-side moving image data B. You may. Thereby, it is possible to continuously provide the remote terminal 3 with easy-to-view moving image data of a child as a communication key and a toy approaching the display surface of the robot-side display device 140 or the support stand, regardless of the mode conversion. Can be.

  When the robot-side moving image processing unit 214 enlarges or reduces the child space imaging region R11 or the display surface imaging region R12, various methods can be considered. In the embodiment of the present invention, since the lens of the camera 130 is a fish-eye lens, it is also possible to adjust the degree of correction of distortion used when correcting a moving image captured by the fish-eye lens and to perform processing. For example, in the embodiment of the present invention, the display surface photographing region R12 is provided at the edge of the photographing region of the fisheye lens as shown in FIG. Therefore, the robot-side moving image processing unit 214 strongly corrects the distortion of the display surface shooting region R12 when an object such as a child or a toy approaches the robot-side display device 140, as compared to before the object approaches the robot-side display device 140. I do. Accordingly, the robot-side moving image processing unit 214 can display the display surface shooting region R12 widely.

(Remote terminal)
Referring to FIG. 11, remote terminal 3 according to the embodiment of the present invention will be described. The remote terminal 3 includes a device having a general computer such as a storage device 300, a processing device 310, an input / output control device 320, a communication control device 350, and other devices that can be connected to the computer. The devices are a camera 330 and a remote-side display device 340. These devices may be built in the computer or connected externally. The remote terminal 3 may be configured by various computers such as a personal computer, a notebook computer, a smartphone, and a tablet computer.

  The storage device 300 is a ROM, a RAM, a hard disk, or the like, and stores various data such as input data, output data, and intermediate data for the processing device 310 to execute processing. The processing device 310 is a CPU, and executes processing in the remote terminal 3 by reading and writing data stored in the storage device 300 and inputting and outputting data to and from the input / output control device 320.

  The input / output control device 320 controls input / output between the processing device 310 and devices connected to the computer. For example, the input / output control device 320 relays data from the processing device 310 to the device, and relays data from the device to the processing device 310.

  The camera 330 captures the moving image data G on the remote side, which captures the space where the remote person exists. The camera 330 is arranged so as to be adjustable in direction and angle, and is adjusted so that a remote person can be seen by the camera 330.

  The remote person side display device 340 displays the display moving image data D. At the left and right ends, display moving image data having a blurred region R2 blurred to the extent that the presence of a child can be confirmed is displayed. The remote person side display device 340 displays a moving image formed based on the display moving image data D.

  The storage device 300 stores remote-side moving image data G and display moving image data D.

  The processing device 310 includes a remote person-side moving image transmitting unit 311, a display moving image reproducing unit 312, an operation instruction unit 313, and a mode specifying unit 314.

  The remote person side moving image transmission unit 311 acquires the remote person side moving image data G captured by the camera 330. The remote person side moving image transmission unit 311 transmits the acquired remote person side moving image data G to the robot 1 via the moving image processing device 2.

  The display moving image reproducing unit 312 receives the display moving image data D from the moving image processing device 2, reproduces the received display moving image data D, and displays the data on the remote display device 340.

  The operation instruction unit 313 inputs an instruction to move or an instruction to rotate the camera 130 and the robot-side display device 140 in the circumferential direction to the robot 1 via the moving image processing device 2. The operation instructing unit 313 instructs the child to be displayed in the non-blur area R1 at the center of the display moving image data D. The operation instruction unit 313 may transmit the instruction input by the operator to the moving image processing apparatus 2, or may output the instruction generated by the operation instruction unit 313 autonomously even without the input of the operator. 2 may be transmitted. For example, when observing the display moving image data D and determining that a child is not reflected in the non-blurred area R1, the operation instructing unit 313 instructs the robot 1 to rotate. When judging that a child is reflected in the non-blurring area R1, the operation instruction unit 313 instructs to stop the instruction to rotate the robot 1.

  The mode specifying unit 314 specifies a mode used when generating the display moving image data D for the moving image processing device 2. The moving image processing device 2 generates the display moving image data D in the designated mode, and transmits the generated moving image data D to the remote terminal 3.

  According to the communication support system 5 according to such an embodiment of the present invention, the moving image data itself captured by the robot 1 is not displayed on the remote terminal 3 but to the extent that a child can be confirmed at the left and right ends. Set the blurred blur area. Thereby, the communication support system 5 makes it easy for the remote person to adjust the direction of the robot to the direction of the child, and the operability of the remote person is improved.

  Further, in the display moving image data D displayed on the remote terminal 3, a blur region R2 is set outside the range where the child feels watching, and a non-blur region R1 is set within the range where the child feels watching. Is done. Thereby, the communication support system 5 can guide the robot so that the orientation of the robot can be adjusted so that the child is displayed in the non-blurring area R1. In addition, a communication sign that a remote person looks at the child is easily transmitted to the child.

  Further, in the remote terminal 3, by expanding or reducing the predetermined area according to the situation of the child or the toy possessed by the child, the remote person can appropriately grasp the behavior of the child. Thus, in the communication support system 5, the remote person can speak to the behavior of the child, so that smooth communication between the child and the remote person can be supported.

(First Modification)
In the embodiment of the present invention, the case where the moving image processing apparatus 2 obtains the display moving image data D by performing image processing for blurring the left and right ends of the robot-side moving image data B has been described, but the present invention is not limited to this.

  In the first modification, a filter that blurs the space may be provided at a position corresponding to the blur region R2 of the lens of the camera 130. As shown in FIG. 12, a blur filter 133 is provided at each of the left and right ends of the fisheye lens 131 of the camera 130. In the example shown in FIG. 12, the position of the blur filter 133 is fixed by the lens frame 132.

  In the first modification, the moving image data output by the camera 130 may be displayed on the remote terminal 3 as it is. In that case, the communication support system 5 according to the first modification performs the processing shown in FIG.

  In step S51, the robot 1 transmits the display moving image data D with the left and right edges blurred to the moving image processing device 2, and in step S52, the moving image processing device 2 transmits the display moving image data D received in step S51 to the remote terminal. Send to 3.

  In step S53, the remote person terminal 3 transmits the remote person moving image data G to the moving image processing device 2, and in step S54, the moving image processing device 2 transmits the remote person moving image data G received in step S53 to the robot.

  Accordingly, in step S55, the robot 1 reproduces and displays the remote person-side moving image data G acquired in step S54. In step S56, the remote terminal 3 reproduces and displays the display moving image data D acquired in step S52.

  Although omitted in the example illustrated in FIG. 13, the moving image processing device 2 may perform processing of enlarging or reducing a predetermined area according to the mode after receiving the display moving image data D in step S51.

  In the first modified example, by providing a blur filter at the left and right ends of the lens of the camera 130, the moving image processing device 2 does not need to blur the left and right ends of the robot-side moving image data B. Thereby, the processing delay and the processing load in the moving image processing device 2 can be reduced.

(Second Modification)
In the embodiment of the present invention, the case where the moving image processing device 2 connected to the robot 1 and the remote terminal 3 processes the robot side moving image data B to generate the display moving image data D has been described. I can't. The function of the robot-side moving image processing unit 214 of the moving image processing device 2 may be implemented as one function of the robot 1 or may be implemented as one function of the remote terminal 3. The robot-side moving image processing unit 214 is implemented by an appropriate computer according to the specifications and load of each computer of the robot 1 or the remote terminal 3.

(Third Modification)
In the embodiment of the present invention, the case where the fisheye lens is used for the camera 130 of the robot 1 has been described, but the invention is not limited to this.

  As shown in FIG. 14, a first lens 135a is provided above the display surface, and a second lens 135b is provided below the display surface. The first lens 135a photographs the child space photographing region R11, and the second lens 135b photographs the vicinity of the support 180. The moving image processing apparatus 2 may acquire moving image data having a wide angle of view in a vertical direction by combining moving image data shot by each lens.

  Further, camera lenses may be provided not only on the upper and lower sides of the display surface of the robot-side display device 140 of the robot 1 but also on the right and left sides. Since moving image data having a wide angle of view can also be acquired in the left-right direction, a remote person can easily confirm the position of the child.

  Further, as shown in FIG. 15, the first lens 136a and the second lens 136b may be installed side by side. At this time, it is preferable that a cover 137 that covers the first lens 136a and the second lens 136b is provided to make it difficult for children to touch the lenses. Further, by making the cover 137 a dark color such as black, the lens inside the cover 137 becomes difficult to see, and it is possible to make it difficult for children's interest to be directed to the lens.

  Further, in the embodiment of the present invention, the blur region R2 is set at the left and right ends of the robot-side moving image data B as the robot 1 rotates in the left and right direction, but is not limited thereto. When the camera 130 and the robot-side display device 140 rotate in the up-down direction, such as when the head of the robot 1 swings up and down, the blur region R2 may be set at the upper and lower ends of the robot-side moving image data B.

(Other embodiments)
As described above, the embodiments of the present invention and the modifications 1 to 3 have been described. However, it should not be understood that the description and drawings constituting a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples, and operation techniques will be apparent to those skilled in the art.

  For example, the information processing apparatus described in the embodiment of the present invention may be configured on one piece of hardware as shown in FIG. 1, or may be configured on a plurality of pieces of hardware according to its functions and the number of processes. May be. Further, it may be realized on an existing information processing system.

  The present invention naturally includes various embodiments and the like not described herein. Therefore, the technical scope of the present invention is determined only by the invention specifying matters according to the claims that are appropriate from the above description.

Reference Signs List 1 robot 2 moving image processing device 3 remote terminal 5 communication support system 100, 200, 300 storage device 110, 210, 310 processing device 111 robot-side moving image transmitting unit 112 remote-side moving image reproducing unit 113 operation instruction executing unit 120, 320 Output control device 130, 330 Camera 131 Fisheye lens 132 Lens frame 133 Blur filter 135, 136 Lens 137 Cover 140 Robot side display device 150, 220, 350 Communication control device 160 Moving device 161 Rotating device 170 Speaker 180 Support stand 201 Change condition data 211 Remote person side moving image relay unit 212 Operation instruction relay unit 213 Robot side moving image relay unit 214 Robot side moving image processing unit 311 Remote person side moving image transmitting unit 312 Display moving image reproducing unit 313 Operation instruction unit 314 M Code designation section 340 Remote-side display device B Robot-side moving image data D Display moving-image data G Remote-side moving image data R1 Non-blur region R2 Blur region R11 Child space shooting region R12 Display surface shooting region

Claims (16)

A communication support system that includes a robot that photographs a space and displays a remote person, and a remote terminal used by the remote person, and supports communication between the child and the remote person existing in the space.
The robot is
A camera that outputs robot-side moving image data of the space,
A robot-side display device for displaying remote-party-side moving image data received from the remote-party terminal;
A rotating device that rotates the camera and the robot-side display device in a circumferential direction,
The remote terminal is
A remote person-side moving image transmitting unit that transmits the remote person-side moving image data of the remote person to the robot;
Corresponding to the robot-side moving image data, at the left and right ends, a remote person-side display device that displays display moving image data having a blurred area blurred to the extent that the presence of the child can be confirmed;
A communication support system, comprising: an operation instruction unit that inputs an instruction to rotate the camera and the robot-side display device in a circumferential direction, to the robot. 2. The communication support system according to claim 1, wherein the blur area corresponds to a range outside the range in which the child feels that the child is seen by the robot-side display device in the left-right direction. 3. The communication support system according to claim 1, wherein the display moving image data is data obtained by blurring an area corresponding to the blur area of the robot-side moving image data by image processing. At a position corresponding to the blur area of the camera lens, a filter that blurs the space is installed,
The communication support system according to claim 1, wherein the robot-side moving image data output by the camera is the display moving image data. The said operation instruction | indication part of the said remote person terminal inputs the instruction | indication with respect to the said robot so that the said child may be shown in the non-blurring area | region of the center of the said display moving image data. The Claims 1 to 4 characterized by the above-mentioned. The communication support system according to claim 1. The communication support system according to any one of claims 1 to 5, wherein the robot moves. The non-blur area at the center of the display moving image data is
A display surface photographing area photographing the space side of the display surface of the robot side display device,
2. The communication support according to claim 1, wherein when the object approaches the robot-side display device, the display surface shooting area is displayed wider than before the object approaches the robot-side display device. 3. system. The camera shoots the space with a fisheye lens,
The display surface shooting area is provided at an edge of a shooting area of the fisheye lens,
The distortion of the display surface photographing area is more strongly corrected when the object approaches the robot-side display device than before the object approaches the robot-side display device. Communication support system. The non-blur area at the center of the display moving image data is
A child space imaging region that images the space where the child communicating with the robot is located,
A display surface photographing area photographing the space side of the display surface of the robot side display device,
Among the non-blurred areas, the child space shooting area and a background shooting area obtained by shooting an area other than the display surface shooting area,
The communication support system according to claim 1, wherein the child space shooting area and the display surface shooting area are displayed in an enlarged manner as compared with the background shooting area. A communication support system that includes a robot that photographs a space and displays a remote person, and a remote terminal used by the remote person, and supports communication between the child and the remote person existing in the space.
The robot is
A camera that outputs robot-side moving image data of the space,
A robot-side display device that displays remote-side moving image data received from the remote-side terminal,
The remote terminal is
A remote person-side moving image transmitting unit that transmits the remote person-side moving image data of the remote person to the robot;
A remote-side display device that displays display moving image data corresponding to the robot-side moving image data,
The display moving image data includes:
A space shooting area where the space is shot,
A display surface photographing area photographing the space side of the display surface of the robot side display device,
A communication support system, wherein, when an object approaches the robot-side display device, the display surface shooting area is displayed wider than before the object approaches the robot-side display device. The camera shoots the space with a fisheye lens,
The display surface shooting area is provided at an edge of a shooting area of the fisheye lens,
The distortion of the display surface photographing area is more strongly corrected when the object approaches the robot-side display device than before the object approaches the robot-side display device. The apparatus according to claim 10, wherein: Communication support system. A robot for photographing a space and displaying a remote person, and a remote terminal used by the remote person, the robot being used in a communication support system for supporting communication between a child existing in the space and the remote person. So,
The remote person terminal transmits the remote person side moving image data of the remote person to the robot, and the moving object data of the space, and the left and right ends of the remote person terminal are so small that the presence of the child can be confirmed. Displaying display moving image data having a blurred blur area,
The robot is
At the position of the lens corresponding to the blur area, a filter that blurs the space is installed, and a camera that outputs the display moving image data obtained by shooting the space,
A robot-side display device for displaying remote-party-side moving image data received from the remote-party terminal;
A robot comprising: a rotation device configured to rotate the camera and the robot-side display device in a circumferential direction. A robot for photographing a space and displaying a remote person, a remote terminal used by the remote person, and a moving image processing device for processing display moving image data displayed on the remote terminal; a child existing in the space; And the video processing device used in a communication support system that supports communication with the remote person,
The robot is
A camera that outputs robot-side moving image data of the space,
A robot-side display device for displaying remote-party-side moving image data received from the remote-party terminal;
A rotating device that rotates the camera and the robot-side display device in a circumferential direction,
The remote terminal is
A remote person-side moving image transmitting unit that transmits the remote person-side moving image data of the remote person to the robot;
Corresponding to the robot-side moving image data, at the left and right ends, a remote person-side display device that displays display moving image data having a blurred area blurred to the extent that the presence of the child can be confirmed;
The robot further includes an operation instruction unit that inputs an instruction to rotate the camera and the robot-side display device in a circumferential direction,
The video processing device,
A moving image processing device, comprising: a robot-side moving image processing unit that blurs an area corresponding to the blur region of the robot-side moving image data by image processing to generate the display moving image data. A robot for photographing a space and displaying a remote person, a remote terminal used by the remote person, and a moving image processing device for processing display moving image data displayed on the remote terminal; a child existing in the space; And the video processing device used in a communication support system that supports communication with the remote person,
The robot is
A camera that outputs robot-side moving image data of the space,
A robot-side display device for displaying remote-party-side moving image data received from the remote-party terminal;
The remote terminal is
A remote person-side moving image transmitting unit that transmits the remote person-side moving image data of the remote person to the robot;
A remote person side display device that displays display moving image data processed from the robot side moving image data,
The display moving image data includes:
A display surface photographing area photographing the space side of the display surface of the robot side display device,
The video processing device,
A robot-side moving image processing unit that processes the object so that the display surface photographing area becomes wider when the object approaches the robot-side display device as compared to before the object approaches the robot-side display device. Video processing device.   A moving image processing program that causes a computer to function as the moving image processing device according to claim 13. A robot for photographing a space and displaying a remote person, and a remote terminal used by the remote person, the robot being used in a communication support system for supporting communication between a child existing in the space and the remote person. So,
A camera that outputs robot-side moving image data of the space,
A robot-side display device that displays remote-side moving image data received from the remote-side terminal,
The viewing angle above the camera is represented by equation (1):
The viewing angle below the camera is represented by Equation (2).

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