WO2022065507A1 - Communication system and terminal device - Google Patents

Communication system and terminal device Download PDF

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Publication number
WO2022065507A1
WO2022065507A1 PCT/JP2021/035592 JP2021035592W WO2022065507A1 WO 2022065507 A1 WO2022065507 A1 WO 2022065507A1 JP 2021035592 W JP2021035592 W JP 2021035592W WO 2022065507 A1 WO2022065507 A1 WO 2022065507A1
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WIPO (PCT)
Prior art keywords
communication
robot
communication method
computer
data
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PCT/JP2021/035592
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French (fr)
Japanese (ja)
Inventor
昂 深堀
ケビン 梶谷
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ａｖａｔａｒｉｎ株式会社
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Publication of WO2022065507A1 publication Critical patent/WO2022065507A1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M11/00—Telephonic communication systems specially adapted for combination with other electrical systems

Definitions

  • the present invention relates to a communication system and a terminal device.
  • Patent Document 1 a camera that provides a captured image to a remote operator and a mask process that hides at least a part of the captured image from the remote operator are executed, and the mask process is switched according to the application.
  • a moving body with a camera (telepresence robot) equipped with a mask processing unit is described.
  • Communication methods between terminals in a communication network are the so-called cloud method for transmitting and receiving data via a data center connected to the communication network, and the so-called P2P (Peer) for directly transmitting and receiving data between terminals connected to the communication network.
  • -to-Peer can be roughly divided into methods.
  • the cloud method has the advantage that data can be stored in a cloud server and the stored data can be used as big data, but it has the disadvantage of incurring operational costs.
  • the P2P method has an advantage in terms of low cost, but it cannot be said that it is suitable for effective utilization of data because data is simply exchanged between both terminals.
  • Robots are expected to be used for various purposes in a wide range of fields in the future.
  • the present invention provides a communication system and a terminal device that enable flexible and efficient communication that can meet the needs of various users in the communication between the robot and the terminal device for remote control.
  • the communication system is a communication system including a non-fixed robot and at least one computer capable of communicating with the robot, wherein the robot is remotely controlled by a camera and the computer.
  • the computer has a possible drive unit, and the computer has data between an input unit that receives an input of an instruction from a user, a display unit that displays an image taken by the camera, and the robot through a communication network.
  • the communication method between the computer and the robot is the first communication method for transmitting and receiving data via a data center connected to the communication network according to predetermined conditions, and the communication. It has a communication switching unit for switching between the robot and a second communication method for directly transmitting and receiving data through a network.
  • the communication method with the robot to be remotely operated by the computer is the first communication method (so-called cloud method) in which data is transmitted / received via the data center connected to the communication network according to a predetermined condition. Since it is switched between the robot and the second communication method (so-called P2P method) for directly transmitting and receiving data through the communication network, it is possible to transmit and receive data by taking advantage of each communication method.
  • the communication switching unit may switch the communication method according to the application of the robot selected based on the instruction input to the input unit.
  • the communication switching unit may switch the communication method to the second communication method when the robot is used for communication between specific individuals.
  • the communication switching unit may switch the communication method to the first communication method.
  • the communication switching unit may switch the communication method according to the charge plan when connecting to the robot.
  • the communication switching unit may switch the communication method for each data according to the type or format of the data transmitted / received between the computer and the robot.
  • the communication switching unit switches the communication method in the background according to the use of the robot and the type or format of the data, so that the user does not need to be aware of the communication method to communicate by an appropriate method. be able to.
  • the communication switching unit may switch the communication method according to an instruction to switch the communication method input to the input unit. According to this aspect, since the communication method is switched according to the explicit instruction of the user, communication can be performed by a method that is easy for the user to use.
  • the communication switching unit switches to the first communication method when the computer is connected to a plurality of the robots at the same time, and the second communication when the computer is connected to only one robot. You may switch to the method.
  • the load on the communication network can be reduced even when, for example, a computer connects to a plurality of robots at the same time.
  • the communication switching unit may switch the communication method to the first communication method in a predetermined cycle for a predetermined period while communication is performed by the second communication method. According to this aspect, even when communication is performed by the second communication method, data can be sampled by switching to the first communication method for a predetermined period in a predetermined cycle.
  • a terminal device is a terminal device for remotely operating a mobile or wearable robot having a camera and a remotely controllable drive unit, and is an input of an instruction from a user.
  • An input unit that accepts data
  • a display unit that displays images taken by the camera
  • a communication unit that transmits / receives data to / from the robot through a communication network
  • a communication method between the terminal device and the robot.
  • the communication method with the robot to be remotely operated by the computer is the first communication method (so-called cloud method) in which data is transmitted / received via the data center connected to the communication network according to a predetermined condition. Since it is switched between the robot and the second communication method (so-called P2P method) for directly transmitting and receiving data through the communication network, it is possible to transmit and receive data by taking advantage of each communication method.
  • the present invention in the communication between the telepresence robot and the terminal device for remote control, flexible and efficient communication that can meet the needs of various users becomes possible.
  • FIG. 1 is a diagram showing a network configuration of a communication system 100 according to an embodiment of the present invention.
  • the communication system 100 includes non-fixed robots 20, 21 and 22, and computers 10 and 11 capable of communicating with the robots 20, 21 and 22.
  • the fact that the robots 20 and 21 and 22 and the computers 10 and 11 can communicate includes that wireless communication or wired communication is possible, and communication via the Internet, LAN (Local Area Network), telephone line, or the like is possible. This includes cases where there is or short-range wireless communication is possible.
  • LAN Local Area Network
  • FIG. 1 three robots 20, 21 and 22, and two computers 10 and 11 are illustrated, but the number thereof is arbitrary.
  • the communication method for transmitting and receiving data between the computers 10 and 11 and the robots 20, 21 and 22 is a so-called cloud method (first communication) for transmitting and receiving data via a data center connected to a communication network.
  • first communication for transmitting and receiving data via a data center connected to a communication network.
  • second communication method N2 second communication method in which data is directly transmitted and received between the computers 10 and 11 and the robots 20, 21 and 22 through a communication network.
  • the computers 10 and 11 switch the communication method for communicating with the robots 20, 21 and 22 under predetermined conditions.
  • Robots 20, 21 and 22 have a camera and a drive unit that can be remotely controlled by computers 10 and 11.
  • the robots 20, 21 and 22, may be composed of, for example, a telepresence robot or an avatar robot, and may have a moving portion such as wheels.
  • Robots 20, 21 and 22 are placed in various places and can be used for various purposes.
  • robots 20, 21, 22 can be remotely controlled only by a computer (eg, computer 10) that is located in an individual's home and has special access rights, and is used only for communication between specific individuals. It may be a thing.
  • the robots 20, 21 and 22, may be arranged in a public space such as a station or a museum, and can be remotely controlled from any computer 10 or 11 without user authentication as long as they are free.
  • the robots 20, 21 and 22, are placed in service providers such as department stores, medical institutions and English conversation classes, and are remotely controlled by computers 10 and 11 that have succeeded in authenticating registered users for shopping and online medical treatment. It may be used for services such as online lessons.
  • the robots 20, 21 and 22 are not fixed in the case where the robots 20, 21 and 22 are mobile type having a moving part such as wheels, and the case where they can be worn by a person and have a driving part such as a manipulator. Including some cases.
  • the mobile robot is shown in, for example, Patent Document 1.
  • the moving part of the mobile robot is one that travels by one wheel, two wheels or multiple wheels, one that travels by a caterpillar, one that travels on a rail, one that jumps and moves, bipedal walking, four-legged walking or multi-legged walking. Includes those that navigate on or under water with a screw, and those that fly with a propeller or the like.
  • Wearable robots include, for example, MHD Yaman Saraiji, Tomoya Sasaki, Reo Matsumura, Kouta Minamizawa and Masahiko Inami, "Fusion: full body surrogacy for collaborative communication," Proceeding SIGGRAPH '18 ACM 7. It is open to the public at.
  • the robots 20, 21 and 22 include vehicles and heavy machinery capable of automatic or semi-automatic traveling, and drones and airplanes. Further, the robots 20, 21 and 22, include a robot installed in a sports stadium or the like and equipped with a camera that can move on rails. Further, the robots 20, 21 and 22, are satellite type robots launched into outer space, and include a robot capable of attitude control and control of the shooting direction of the camera.
  • the computers 10 and 11 are between an input unit that receives an input of an instruction from a user, a display unit that displays an image taken by the cameras of the robots 20, 21 and 22, and the robots 20, 21 and 22 through a communication network. It has a communication unit for transmitting and receiving data in the above, and a communication switching unit for switching the communication method in which the computers 10 and 11 communicate with the robots 20, 21 and 22 between the cloud method and the P2P method according to predetermined conditions.
  • the computers 10 and 11 are composed of, for example, a smartphone, but may be composed of a personal computer or the like.
  • the users of the computers 10 and 11 can communicate with other users in a remote place where the robots 20, 21 and 22 are arranged via the robots 20 and 21 and 22.
  • the computers 10 and 11 may be connected to only one robot 20,21,22 at the same time, or may be connected to a plurality of robots 20,21,22 at the same time. As an example of the latter, there is an application in which a user 1 of a computer 10 holds an online conference with a user in each remote place through robots 20, 21 and 22, respectively arranged in a plurality of remote places.
  • the conditions for the communication switching unit to switch the communication method can be set as appropriate.
  • the communication switching unit may switch the communication method according to the application of the robots 20, 21, 22 selected based on the instruction input to the input unit.
  • the communication method is switched to the P2P method at a low cost. You may. Further, even when the robots 20, 21 and 22, are used for a purpose such as a conference, the communication method may be switched to the P2P method if it is not necessary to store the data on the cloud. Of course, even if it is used for meetings, etc., if the convenience is improved by saving the minutes and videos that recorded the meeting on the cloud, the communication method can be switched to the cloud method. May be good.
  • the communication method may be switched to the cloud method.
  • the data detected or transmitted / received in the process of using the robots 20, 21 and 22 can be stored in the cloud server, and the stored data can be utilized.
  • the computers 10 and 11 use the cloud method to display the robot 20.
  • 21 and 22 may be set to communicate with each other.
  • the data transmitted / received between the computers 10 and 11 and the robots 20, 21 and 22, the action history (log data) of the robots 20 and 21 and 22 by remote control of the computers 10 and 11, and the robot 20, It is possible to collect environmental information (temperature, humidity, weather, surrounding congestion status) and the like around 21 and 22 and store them in the cloud server.
  • the computers 10 and 11 operated by the user are communicated with the robot 20 by the P2P method. It may be set.
  • the computers 10 and 11 are used. It may be set to communicate with the robots 20, 21 and 22 by a cloud method. In this case, in addition to the log data of the robots 20, 21 and 22, and the surrounding environment information, information on the user's purchase information and preferences can be stored in the cloud server.
  • the communication switching unit may switch the communication method according to the charge plan when using the robots 20, 21 and 22 via the computers 10 and 11.
  • the cloud method may be used
  • the robots 20, 21 and 22 are used in the pay-as-you-go plan such as how much per unit time
  • the P2P method may be used.
  • the communication switching unit may switch the communication method for each data according to the type or format of the data transmitted / received between the computers 10 and 11 and the robots 20, 21 and 22. For example, when a command is transmitted from the computers 10 and 11, the cloud method may be used because the amount of data is small. Further, for example, when the user 1 of the computer 10 and the user 2 in a remote place where the robot 20 is arranged have a meeting, the real-time moving image is transmitted and received by the P2P method, and the slide material (for example, PPT file) shared on the screen. And minutes (for example, text files) may be sent and received by the cloud method.
  • the cloud method may be used because the amount of data is small.
  • the user 1 of the computer 10 and the user 2 in a remote place where the robot 20 is arranged have a meeting
  • the real-time moving image is transmitted and received by the P2P method
  • the slide material for example, PPT file
  • minutes for example, text files
  • audio data is transmitted and received by the cloud method
  • video data is transmitted and received by the P2P method.
  • the received video data and audio data are synchronized and reproduced in each of the computers 10 and 11 and the robots 20, 21 and 22.
  • the amount of video data is larger than that of audio data, communication delay is likely to occur. Therefore, by transmitting and receiving audio data having a relatively small amount of data by the cloud method and transmitting and receiving video data having a relatively large amount of data by the P2P method, it is possible to reduce the timing difference between receiving both data.
  • the communication switching unit switches to the P2P method when one computer 10 is connected to only one robot 20 (so-called 1: 1 connection), and one computer (for example, the computer 10) is connected to the plurality of robots 20, 21.
  • one computer for example, the computer 10
  • the cloud method may be switched.
  • one user connects to the robot 20 from the computer 10 for remote control, and another plurality of users connect to the robot 20 from another plurality of computers 11 to share an image taken by the robot 20. In that case, it may be possible to switch to the cloud method.
  • the communication switching unit may switch the communication method to the cloud method in a predetermined cycle and for a predetermined period even while the communication is being performed by the P2P method.
  • the data can be stored in the cloud server by sampling the data transmitted / received between the computers 10 and 11 and the robots 20, 21 and 22 at a predetermined rate. For example, it is possible to acquire map information of a movement route by sampling data while the robot 20 is moving by remote control.
  • the communication switching unit may switch the communication method between the computers 10 and 11 and the robots 20, 21 and 22 in response to an instruction from the user to switch the communication method input to the input unit. ..
  • the communication switching unit may automatically switch the communication method between the computers 10 and 11 and the robots 20, 21 and 22 to the P2P method when the cloud server goes down. Whether or not the cloud server has gone down may be determined by using, for example, the monitoring result of the cloud server by a monitoring system (not shown).
  • the computers 10 and 11 switch the communication method with the remotely controlled robots 20, 21 and 22 between the cloud method and the P2P method according to predetermined conditions. It is possible to send and receive data by taking advantage of each communication method. As a result, efficient communication can be performed between the robots 20, 21 and 22, and the computers 10 and 11.
  • the computers 10 and 11 are collectively referred to as the computer 10.
  • the robots 20, 21 and 22, are collectively referred to as a robot 20.
  • FIG. 2 is a diagram showing a physical configuration of the computer 10 according to the present embodiment.
  • the computer 10 includes a CPU (Central Processing Unit) 10a corresponding to a calculation unit, a RAM (RandomAccessMemory) 10b corresponding to a storage unit, a ROM (ReadonlyMemory) 10c corresponding to a storage unit, and a communication unit 10d. , And an input unit 10e and a display unit 10f.
  • Each of these configurations is connected to each other via a bus so that data can be transmitted and received.
  • the configuration shown in FIG. 2 is an example, and the computer 10 may have configurations other than these, or may not have a part of these configurations.
  • the CPU 10a is a control unit that controls execution of a program stored in the RAM 10b or ROM 10c, calculates data, and processes data.
  • the CPU 10a is a calculation unit that executes a program (communication program) for controlling communication via a robot.
  • the CPU 10a receives various data from the input unit 10e and the communication unit 10d, displays the calculation result of the data on the display unit 10f, and stores the data in the RAM 10b.
  • the RAM 10b is a storage unit in which data can be rewritten, and may be composed of, for example, a semiconductor storage element.
  • the RAM 10b may store data such as a program executed by the CPU 10a and user information. It should be noted that these are examples, and data other than these may be stored in the RAM 10b, or a part of these may not be stored.
  • the ROM 10c is a storage unit capable of reading data, and may be composed of, for example, a semiconductor storage element.
  • the ROM 10c may store, for example, a communication program or data that is not rewritten.
  • the communication unit 10d is an interface for connecting the computer 10 to another device.
  • the communication unit 10d may be connected to a communication network such as the Internet or a telephone line.
  • the input unit 10e receives data input from the user, and may include, for example, a keyboard and a touch panel. Further, the input unit 10e may include a microphone for voice input.
  • the display unit 10f visually displays the calculation result by the CPU 10a, and may be configured by, for example, an LCD (Liquid Crystal Display).
  • the display unit 10f may display an image taken by the camera 20h of the robot 20.
  • the communication program may be stored in a storage medium readable by a computer such as RAM 10b or ROM 10c and provided, or may be provided via a communication network connected by the communication unit 10d.
  • a computer such as RAM 10b or ROM 10c and provided, or may be provided via a communication network connected by the communication unit 10d.
  • various operations for controlling the robot 20 and operations as a communication switching unit for switching the communication method between the computer 10 and the robot 20 are realized by the CPU 10a executing the communication program.
  • the computer 10 may include an LSI (Large-Scale Integration) in which the CPU 10a is integrated with the RAM 10b and the ROM 10c.
  • LSI Large-Scale Integration
  • FIG. 3 is a diagram showing a physical configuration of the robot 20 according to the present embodiment.
  • the robot 20 includes a CPU 20a corresponding to a calculation unit, a RAM 20b corresponding to a storage unit, a ROM 20c corresponding to a storage unit, a communication unit 20d, an input unit 20e, a display unit 20f, a drive unit 20g, and a camera 20h. And have.
  • Each of these configurations is connected to each other via a bus so that data can be transmitted and received.
  • the configuration shown in FIG. 3 is an example, and the robot 20 may have configurations other than these, or may not have a part of these configurations.
  • the CPU 20a is a control unit that controls execution of a program stored in the RAM 20b or ROM 20c, calculates data, and processes data.
  • the CPU 20a is a calculation unit that executes a program (communication program) for controlling communication via a robot.
  • the CPU 20a receives various data from the input unit 20e and the communication unit 20d, displays the calculation result of the data on the display unit 20f, and stores the data in the RAM 20b. Further, the CPU 20a controls the drive unit 20g and controls the operation of the robot 20.
  • the RAM 20b is a storage unit in which data can be rewritten, and may be composed of, for example, a semiconductor storage element.
  • the RAM 20b may store a program executed by the CPU 20a. It should be noted that these are examples, and data other than these may be stored in the RAM 20b, or a part of these may not be stored.
  • the ROM 20c is a storage unit capable of reading data, and may be composed of, for example, a semiconductor storage element.
  • the ROM 20c may store, for example, a communication program or data that is not rewritten.
  • the communication unit 20d is an interface for connecting the robot 20 to other devices.
  • the communication unit 20d may be connected to a communication network such as the Internet.
  • the input unit 20e receives data input from the user, and may include, for example, a touch panel. Further, the input unit 20e may include a microphone for voice input.
  • the display unit 20f visually displays the calculation result by the CPU 20a, and may be configured by, for example, an LCD.
  • the display unit 20f may display an image taken by the camera of the computer 10.
  • the drive unit 20 g includes an actuator that can be remotely controlled, and includes a moving unit such as a wheel and a manipulator.
  • a moving unit such as a wheel
  • the drive unit 20 g includes at least a moving unit such as a wheel, but may include a manipulator.
  • the drive unit 20 g includes at least a manipulator.
  • the camera 20h includes an image sensor that captures a still image or a moving image, and transmits the captured still image or the moving image to the computer 10 via the communication unit 20d.
  • the communication program may be stored in a storage medium readable by a computer such as RAM 20b or ROM 20c and provided, or may be provided via a communication network connected by the communication unit 20d.
  • various operations for controlling the robot 20 are realized by the CPU 20a executing a communication program.
  • the robot 20 may include an LSI in which the CPU 20a and the RAM 20b or the ROM 20c are integrated.
  • FIG. 4 is a flowchart showing an example of processing executed by the computer 10 according to the present embodiment.
  • the computer 10 When the computer 10 receives an instruction to connect to the robot 20 in the input unit 10e (S10), the computer 10 selects a communication method according to an instruction from the user or a system setting (S11).
  • system settings such as "P2P method in the case of interpersonal use” and “cloud method in the case of unspecified use” are made.
  • FIG. 5 is a diagram illustrating a call destination selection screen displayed on the display unit 10f when a connection instruction with the robot 20 for personal use is received.
  • icons 111 to 114 indicating the connection destination of a pre-registered individual are displayed.
  • the computer 10 detects that, for example, the icon 111 displayed as "Mr. A" has been operated, it selects P2P as the communication method and communicates with the robot 20 arranged at Mr. A's house by the P2P method. Start and send / receive data.
  • the computer 10 determines whether or not the operation for switching the communication method has been performed (S13). If the operation for switching the communication method is not performed (S13: No), the computer 10 continues to communicate with the robot 20 by the P2P method to transmit and receive data. After that, the computer 10 determines whether or not the disconnection operation has been detected (S16). If the computer 10 does not detect the disconnection operation (S16: No), it returns to S11 and repeatedly executes the above-mentioned series of processes, while if it detects the disconnection operation (S16: Yes), it communicates with the robot 20. Disconnect (S17) and end the process.
  • the computer 10 when the computer 10 detects that the operation of switching the communication method has been performed (S13: Yes), the computer 10 selects the cloud method in order to switch the communication method from the P2P method to the cloud method (S14). For example, when the computer 10 detects an operation on the icon 115 for inputting an instruction for switching the communication method illustrated in FIG. 5, the computer 10 switches the communication method from the P2P method to the cloud method.
  • the P2P method which has a low communication cost, is basically selected, but there is a user's desire to save the record in the cloud server. You can switch to the cloud method.
  • FIG. 6 is a diagram illustrating a service selection screen displayed on the display unit 10f when a connection instruction with the robot 20 for unspecified use is received.
  • this service selection screen for example, icons 121 to 123 indicating services such as English conversation, medical consultation, and shopping are displayed.
  • the computer 10 detects an operation on the icon 121 displayed as "English conversation", for example, it selects the cloud method as the communication method, starts communication by the cloud method with the robot 20 arranged in the English conversation classroom, and performs data. Send and receive.
  • data such as teaching materials for English conversation lessons and lesson records can be stored in the cloud server, and the data stored in the cloud server can be used.
  • the computer 10 detects an operation on the icon 123 displayed as "shopping", it starts communication by a cloud method with the robot 20 arranged in the department store and transmits / receives data.
  • the behavior history of the robot 20 by remote control of the computer 10 product information purchased by the user, environmental information around the robot 20, and the like can be stored in the cloud server.
  • the computer 10 determines whether or not the operation for switching the communication method has been performed (S15). If the operation is not performed (S15: No), the computer 10 continues to communicate with the robot 20 by a cloud method to send and receive data. After that, the computer 10 determines whether or not the disconnection operation has been detected (S16). If the computer 10 does not detect the disconnection operation (S16: No), it returns to S11 and repeatedly executes the above-mentioned series of processes, while if it detects the disconnection operation (S16: Yes), it communicates with the robot 20. Disconnect (S17) and end the process.
  • the computer 10 when the computer 10 detects that the operation of switching the communication method has been performed (S15: Yes), the computer 10 selects the P2P method in order to switch the communication method from the cloud method to the P2P method (S12). For example, when the computer 10 detects an operation on the icon 124 for inputting an instruction for switching the communication method illustrated in FIG. 6, the computer 10 switches the communication method from the cloud method to the P2P method.
  • the computer 10 detects an operation on the icon 122 displayed as "medical consultation" shown in FIG. 6, it first selects a cloud method and communicates by the cloud method according to the user's operation.
  • the doctor to be consulted (connection destination) is searched, and the robot 20 arranged under the doctor is connected. After that, the communication method can be switched to P2P according to the user's operation.
  • the communication method is automatically set to the P2P method or the cloud method according to the system setting, so that flexible and efficient communication can be performed.
  • the user of the computer 10 can efficiently and remotely control the robot 20 without being aware of the set communication method.
  • the robot 20 is remotely controlled by the communication method according to the needs of various users. be able to.
  • the communication method with the robot 20 is set in the computer 10, but the communication method may be set in the cloud server.
  • the robot 20 used for a specific service such as shopping may be set so that it can be connected to the computer 10 only by the cloud method and the communication method cannot be switched by the operation of the computer 10.

Abstract

The present invention enables flexible and efficient communication responsive to various user needs in communication between a telepresence robot and a remote operation terminal device. A communication system comprises: an unfixed robot; and at least one computer which is capable of communicating with the robot. The computer has a communication switching unit, and in accordance with a predetermined condition, the switching unit switches the communication method used between the computer and the robot between a first communication method in which data is transmitted/received via a data center connected to a communication network, and a second communication method in which data is directly transmitted/received to/from the robot through the communication network.

Description

コミュニケーションシステム及び端末装置Communication system and terminal equipment 関連出願の相互参照Cross-reference of related applications
　本出願は、２０２０年９月２８日に出願された日本特許出願番号２０２０－１６２６１０号に基づくもので、ここにその記載内容を援用する。 This application is based on Japanese Patent Application No. 2020-162610 filed on September 28, 2020, and the contents of the description are incorporated herein by reference.
　本発明は、コミュニケーションシステム及び端末装置に関する。 The present invention relates to a communication system and a terminal device.
　近年、インターネットを用いたテレビ会議システムが普及し、顔を見ながら話すだけでなく、遠隔地にいるユーザがカメラの向きや位置を操作することができるロボット（例えば、テレプレゼンスロボット）が使用されている。 In recent years, video conference systems using the Internet have become widespread, and robots (for example, telepresence robots) that allow users at remote locations to control the direction and position of cameras as well as talking while looking at their faces have been used. ing.
　特許文献１には、遠隔操作者に対して撮影画像を提供するカメラと、撮影画像内の少なくとも一部を遠隔操作者から隠蔽するマスク処理を実行し、かつ、マスク処理を用途に応じて切り替えるマスク処理部と、を備えるカメラ付き移動体（テレプレゼンスロボット）が記載されている。 In Patent Document 1, a camera that provides a captured image to a remote operator and a mask process that hides at least a part of the captured image from the remote operator are executed, and the mask process is switched according to the application. A moving body with a camera (telepresence robot) equipped with a mask processing unit is described.
特開２０１９－０６２３０８号公報JP-A-2019-062308
　通信ネットワークにおける端末間の通信方式は、通信ネットワークに接続されたデータセンタを経由してデータを送受信する所謂クラウド方式と、通信ネットワークに接続された端末同士で直接データを送受信し合う所謂Ｐ２Ｐ（Peer-to-Peer）方式に大別することができる。
　クラウド方式の場合、クラウドサーバにデータを蓄積し、蓄積されたデータをビッグデータなどとして活用したりすることができるというメリットがある反面、オペレーションコストがかかる等のデメリットがある。他方、Ｐ２Ｐ方式の場合、低コストといった観点ではメリットがあるが、単に両端末間でデータがやりとりされるだけなので、データの有効活用に適しているとは言えない。 Communication methods between terminals in a communication network are the so-called cloud method for transmitting and receiving data via a data center connected to the communication network, and the so-called P2P (Peer) for directly transmitting and receiving data between terminals connected to the communication network. -to-Peer) can be roughly divided into methods.
The cloud method has the advantage that data can be stored in a cloud server and the stored data can be used as big data, but it has the disadvantage of incurring operational costs. On the other hand, the P2P method has an advantage in terms of low cost, but it cannot be said that it is suitable for effective utilization of data because data is simply exchanged between both terminals.
　ロボットは、今後ますます、幅広い分野において様々な用途での利用が期待される。しかしながら、テレプレゼンスロボットとこれを遠隔操作する端末装置との間の通信において、いずれか一方の通信方式を採用したのでは、多様なユーザのニーズに応えることができないという問題があった。 Robots are expected to be used for various purposes in a wide range of fields in the future. However, there is a problem that it is not possible to meet the needs of various users by adopting either communication method in the communication between the telepresence robot and the terminal device that remotely controls the telepresence robot.
　そこで、本発明は、ロボットと遠隔操作用の端末装置との間の通信において、多様なユーザのニーズに応え得る柔軟かつ効率的な通信を可能とするコミュニケーションシステム及び端末装置を提供する。 Therefore, the present invention provides a communication system and a terminal device that enable flexible and efficient communication that can meet the needs of various users in the communication between the robot and the terminal device for remote control.
　本発明の一態様に係るコミュニケーションシステムは、固定されていないロボットと、前記ロボットと通信可能な少なくとも１つのコンピュータとを備えるコミュニケーションシステムであって、前記ロボットは、カメラと、前記コンピュータによる遠隔操作が可能な駆動部と、を有し、前記コンピュータは、ユーザからの指示の入力を受け付ける入力部と、前記カメラで撮影された画像を表示する表示部と、通信ネットワークを通じて前記ロボットとの間でデータを送受信する通信部と、当該コンピュータと前記ロボットとの間の通信方式を、所定の条件に従って、前記通信ネットワークに接続されたデータセンタを介してデータを送受信する第１の通信方式と、前記通信ネットワークを通じて前記ロボットと直接データを送受信する第２の通信方式との間で切り替える通信切替部と、を有する。 The communication system according to one aspect of the present invention is a communication system including a non-fixed robot and at least one computer capable of communicating with the robot, wherein the robot is remotely controlled by a camera and the computer. The computer has a possible drive unit, and the computer has data between an input unit that receives an input of an instruction from a user, a display unit that displays an image taken by the camera, and the robot through a communication network. The communication method between the computer and the robot is the first communication method for transmitting and receiving data via a data center connected to the communication network according to predetermined conditions, and the communication. It has a communication switching unit for switching between the robot and a second communication method for directly transmitting and receiving data through a network.
　この態様によれば、コンピュータが、遠隔操作するロボットとの通信方式を、所定の条件に従って、通信ネットワークに接続されたデータセンタを介してデータを送受信する第１の通信方式（所謂クラウド方式）と、通信ネットワークを通じてロボットと直接データを送受信する第２の通信方式（所謂Ｐ２Ｐ方式）との間で切り替えるので、それぞれの通信方式の利点を活かしたデータの送受信を行うことができる。 According to this aspect, the communication method with the robot to be remotely operated by the computer is the first communication method (so-called cloud method) in which data is transmitted / received via the data center connected to the communication network according to a predetermined condition. Since it is switched between the robot and the second communication method (so-called P2P method) for directly transmitting and receiving data through the communication network, it is possible to transmit and receive data by taking advantage of each communication method.
　上記態様において、前記通信切替部は、前記入力部に入力される指示に基づいて選択される前記ロボットの用途に応じて通信方式を切り替えてよい。この場合において、前記通信切替部は、前記ロボットが特定の個人間のコミュニケーションに用いられる場合、通信方式を前記第２の通信方式に切り替えてよい。また、前記通信切替部は、前記ロボットが不特定のユーザへのサービス提供に用いられる場合、通信方式を前記第１の通信方式に切り替えてよい。あるいは、前記通信切替部は、前記ロボットに接続する際の料金プランに応じて通信方式を切り替えてよい。 In the above aspect, the communication switching unit may switch the communication method according to the application of the robot selected based on the instruction input to the input unit. In this case, the communication switching unit may switch the communication method to the second communication method when the robot is used for communication between specific individuals. Further, when the robot is used to provide a service to an unspecified user, the communication switching unit may switch the communication method to the first communication method. Alternatively, the communication switching unit may switch the communication method according to the charge plan when connecting to the robot.
　上記態様において、前記通信切替部は、前記コンピュータと前記ロボットとの間で送受信されるデータの種類又は形式に応じて、通信方式をデータごとに切り替えてよい。 In the above aspect, the communication switching unit may switch the communication method for each data according to the type or format of the data transmitted / received between the computer and the robot.
　上記態様によれば、ロボットの用途や、データの種類又は形式に応じて、通信切替部がバックグラウンドで通信方式を切り替えるので、ユーザが通信方式を意識しなくとも、適切な方式で通信を行うことができる。 According to the above aspect, the communication switching unit switches the communication method in the background according to the use of the robot and the type or format of the data, so that the user does not need to be aware of the communication method to communicate by an appropriate method. be able to.
　上記態様において、前記通信切替部は、前記入力部に入力される通信方式を切り替える旨の指示に従って、通信方式を切り替えてよい。この態様によれば、ユーザの明示的な指示に従って通信方式を切り替えるので、ユーザにとって使いやすい方式で通信を行うことができる。 In the above aspect, the communication switching unit may switch the communication method according to an instruction to switch the communication method input to the input unit. According to this aspect, since the communication method is switched according to the explicit instruction of the user, communication can be performed by a method that is easy for the user to use.
　上記態様において、前記通信切替部は、前記コンピュータを複数の前記ロボットに同時接続する場合に前記第１の通信方式に切り替え、前記コンピュータを１つの前記ロボットにのみ接続する場合に前記第２の通信方式に切り替えてよい。この態様によれば、例えばコンピュータから複数のロボットに同時接続する場合であっても、通信ネットワークの負荷を低減することができる。 In the above embodiment, the communication switching unit switches to the first communication method when the computer is connected to a plurality of the robots at the same time, and the second communication when the computer is connected to only one robot. You may switch to the method. According to this aspect, the load on the communication network can be reduced even when, for example, a computer connects to a plurality of robots at the same time.
　上記態様において、前記通信切替部は、前記第２の通信方式で通信が行われている間に、所定の周期で所定の期間だけ、前記通信方式を前記第１の通信方式に切り替えてよい。この態様によれば、第２の通信方式で通信が行われている場合であっても、所定の周期で所定の期間だけ第１の通信方式に切り替えることにより、データをサンプリングすることができる。 In the above aspect, the communication switching unit may switch the communication method to the first communication method in a predetermined cycle for a predetermined period while communication is performed by the second communication method. According to this aspect, even when communication is performed by the second communication method, data can be sampled by switching to the first communication method for a predetermined period in a predetermined cycle.
　本発明の別の態様である端末装置は、カメラと、遠隔操作可能な駆動部と、を有する移動型又は装着型のロボットを遠隔操作するための端末装置であって、ユーザからの指示の入力を受け付ける入力部と、前記カメラで撮影された画像を表示する表示部と、通信ネットワークを通じて前記ロボットとの間でデータを送受信する通信部と、当該端末装置と前記ロボットとの間の通信方式を、所定の条件に従って、前記通信ネットワークに接続されたデータセンタを介してデータを送受信する第１の通信方式と、前記通信ネットワークを通じて前記ロボットと直接データを送受信する第２の通信方式との間で切り替える通信切替部と、を有する。 A terminal device according to another aspect of the present invention is a terminal device for remotely operating a mobile or wearable robot having a camera and a remotely controllable drive unit, and is an input of an instruction from a user. An input unit that accepts data, a display unit that displays images taken by the camera, a communication unit that transmits / receives data to / from the robot through a communication network, and a communication method between the terminal device and the robot. , Between a first communication method for transmitting and receiving data via a data center connected to the communication network and a second communication method for directly transmitting and receiving data with the robot through the communication network according to predetermined conditions. It has a communication switching unit for switching.
　この態様によれば、コンピュータが、遠隔操作するロボットとの通信方式を、所定の条件に従って、通信ネットワークに接続されたデータセンタを介してデータを送受信する第１の通信方式（所謂クラウド方式）と、通信ネットワークを通じてロボットと直接データを送受信する第２の通信方式（所謂Ｐ２Ｐ方式）との間で切り替えるので、それぞれの通信方式の利点を活かしたデータの送受信を行うことができる。 According to this aspect, the communication method with the robot to be remotely operated by the computer is the first communication method (so-called cloud method) in which data is transmitted / received via the data center connected to the communication network according to a predetermined condition. Since it is switched between the robot and the second communication method (so-called P2P method) for directly transmitting and receiving data through the communication network, it is possible to transmit and receive data by taking advantage of each communication method.
　本発明によれば、テレプレゼンスロボットと遠隔操作用の端末装置との間の通信において、多様なユーザのニーズに応え得る柔軟かつ効率的な通信が可能となる。 According to the present invention, in the communication between the telepresence robot and the terminal device for remote control, flexible and efficient communication that can meet the needs of various users becomes possible.
本発明の実施形態に係るコミュニケーションシステムのネットワーク構成を示す図である。It is a figure which shows the network configuration of the communication system which concerns on embodiment of this invention. 本実施形態に係るコンピュータの物理的構成を示す図である。It is a figure which shows the physical structure of the computer which concerns on this embodiment. 本実施形態に係るロボットの物理的構成を示す図である。It is a figure which shows the physical structure of the robot which concerns on this embodiment. 本実施形態に係るコンピュータにより実行される処理の一例を示すフローチャートである。It is a flowchart which shows an example of the process executed by the computer which concerns on this embodiment. 本実施形態に係るコンピュータに表示される画面例を示す図である。It is a figure which shows the screen example displayed on the computer which concerns on this embodiment. 本実施形態に係るコンピュータに表示される画面例を示す図である。It is a figure which shows the screen example displayed on the computer which concerns on this embodiment.
　以下、添付図面を参照して、本発明の実施形態について説明する。なお、各図において、同一の符号を付したものは、同一又は同様の構成を有する。 Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In each figure, those with the same reference numerals have the same or similar configurations.
　図１は、本発明の実施形態に係るコミュニケーションシステム１００のネットワーク構成を示す図である。コミュニケーションシステム１００は、固定されていないロボット２０，２１，２２と、ロボット２０，２１，２２と通信可能なコンピュータ１０，１１とを備える。ここで、ロボット２０，２１，２２とコンピュータ１０，１１が通信可能とは、無線通信又は有線通信が可能であることを含み、インターネット、ＬＡＮ（Local Area Network）、電話回線等による通信が可能であったり、近距離無線通信が可能であったりする場合を含む。なお、図１においては、３台のロボット２０，２１，２２と、２台のコンピュータ１０，１１とを例示しているが、その台数は任意である。 FIG. 1 is a diagram showing a network configuration of a communication system 100 according to an embodiment of the present invention. The communication system 100 includes non-fixed robots 20, 21 and 22, and computers 10 and 11 capable of communicating with the robots 20, 21 and 22. Here, the fact that the robots 20 and 21 and 22 and the computers 10 and 11 can communicate includes that wireless communication or wired communication is possible, and communication via the Internet, LAN (Local Area Network), telephone line, or the like is possible. This includes cases where there is or short-range wireless communication is possible. In FIG. 1, three robots 20, 21 and 22, and two computers 10 and 11 are illustrated, but the number thereof is arbitrary.
　コンピュータ１０，１１と、ロボット２０，２１，２２との間でデータを送受信する際の通信方式には、通信ネットワークに接続されたデータセンタを介してデータを送受信する所謂クラウド方式（第１の通信方式Ｎ１）と、通信ネットワークを通じてコンピュータ１０，１１とロボット２０，２１，２２との間で直接データを送受信する所謂Ｐ２Ｐ方式（第２の通信方式Ｎ２）とがある。後で詳しく説明するように、本実施形態においては、コンピュータ１０，１１が、所定の条件の下で、ロボット２０，２１，２２と通信する通信方式を切り替える。 The communication method for transmitting and receiving data between the computers 10 and 11 and the robots 20, 21 and 22 is a so-called cloud method (first communication) for transmitting and receiving data via a data center connected to a communication network. There are a method N1) and a so-called P2P method (second communication method N2) in which data is directly transmitted and received between the computers 10 and 11 and the robots 20, 21 and 22 through a communication network. As will be described in detail later, in the present embodiment, the computers 10 and 11 switch the communication method for communicating with the robots 20, 21 and 22 under predetermined conditions.
　ロボット２０，２１，２２は、カメラと、コンピュータ１０，１１による遠隔操作が可能な駆動部と、を有する。ロボット２０，２１，２２は、例えばテレプレゼンスロボット又はアバターロボットで構成され、車輪等の移動部を有していてよい。 Robots 20, 21 and 22, have a camera and a drive unit that can be remotely controlled by computers 10 and 11. The robots 20, 21 and 22, may be composed of, for example, a telepresence robot or an avatar robot, and may have a moving portion such as wheels.
　ロボット２０，２１，２２は様々な場所に配置され、様々な用途で使用され得る。例えば、ロボット２０，２１，２２は、個人の住宅に配置され、特別なアクセス権限が付与されたコンピュータ（例えばコンピュータ１０）によってのみ遠隔操作が可能で、特定の個人間のコミュニケーションにのみ使用されるものであってもよい。また、ロボット２０，２１，２２は、駅や美術館などのパブリックスペースに配置され、空いていれば、どのコンピュータ１０，１１からでもユーザ認証不要で遠隔操作することができるものであってもよい。或いは、ロボット２０，２１，２２は、百貨店や医療機関や英会話教室などのサービスプロバイダに配置され、会員登録されたユーザの認証に成功したコンピュータ１０，１１により遠隔操作されて、ショッピングやオンライン診療やオンラインレッスンなどのサービスのために使用されるものであってもよい。 Robots 20, 21 and 22 are placed in various places and can be used for various purposes. For example, robots 20, 21, 22 can be remotely controlled only by a computer (eg, computer 10) that is located in an individual's home and has special access rights, and is used only for communication between specific individuals. It may be a thing. Further, the robots 20, 21 and 22, may be arranged in a public space such as a station or a museum, and can be remotely controlled from any computer 10 or 11 without user authentication as long as they are free. Alternatively, the robots 20, 21 and 22, are placed in service providers such as department stores, medical institutions and English conversation classes, and are remotely controlled by computers 10 and 11 that have succeeded in authenticating registered users for shopping and online medical treatment. It may be used for services such as online lessons.
　ロボット２０，２１，２２が固定されていないとは、ロボット２０，２１，２２が車輪等の移動部を有する移動型である場合と、人が装着でき、マニピュレータ等の駆動部を有する装着型である場合とを含む。移動型のロボットは、例えば特許文献１に示されている。移動型ロボットの移動部は、一輪、二輪又は多輪により走行するもの、キャタピラにより走行するもの、レールの上を走行するもの、飛び跳ねて移動するもの、二足歩行、四足歩行又は多足歩行するもの、スクリューにより水上又は水中を航行するもの及びプロペラ等により飛行するものを含む。装着型のロボットは、例えばMHD Yamen Saraiji， Tomoya Sasaki， Reo Matsumura， Kouta Minamizawa and Masahiko Inami， ”Fusion： full body surrogacy for collaborative communication，”Proceeding SIGGRAPH ’18 ACM SIGGRAPH 2018 Emerging Technologies Article No． 7．にて公開されている。さらに、ロボット２０，２１，２２は、自動走行又は半自動走行可能な車両や重機であったり、ドローンや飛行機であったりを含む。また、ロボット２０，２１，２２は、スポーツスタジアム等に設置され、レールの上を移動可能なカメラを備えたロボットを含む。また、ロボット２０，２１，２２は、宇宙空間に打ち上げられる衛星型ロボットであって、姿勢制御やカメラの撮影方向の制御が可能なロボットを含む。 The robots 20, 21 and 22 are not fixed in the case where the robots 20, 21 and 22 are mobile type having a moving part such as wheels, and the case where they can be worn by a person and have a driving part such as a manipulator. Including some cases. The mobile robot is shown in, for example, Patent Document 1. The moving part of the mobile robot is one that travels by one wheel, two wheels or multiple wheels, one that travels by a caterpillar, one that travels on a rail, one that jumps and moves, bipedal walking, four-legged walking or multi-legged walking. Includes those that navigate on or under water with a screw, and those that fly with a propeller or the like. Wearable robots include, for example, MHD Yaman Saraiji, Tomoya Sasaki, Reo Matsumura, Kouta Minamizawa and Masahiko Inami, "Fusion: full body surrogacy for collaborative communication," Proceeding SIGGRAPH '18 ACM 7. It is open to the public at. Further, the robots 20, 21 and 22 include vehicles and heavy machinery capable of automatic or semi-automatic traveling, and drones and airplanes. Further, the robots 20, 21 and 22, include a robot installed in a sports stadium or the like and equipped with a camera that can move on rails. Further, the robots 20, 21 and 22, are satellite type robots launched into outer space, and include a robot capable of attitude control and control of the shooting direction of the camera.
　コンピュータ１０，１１は、ユーザからの指示の入力を受け付ける入力部と、ロボット２０，２１，２２のカメラで撮影された画像を表示する表示部と、通信ネットワークを通じてロボット２０，２１，２２との間でデータを送受信する通信部と、当該コンピュータ１０，１１がロボット２０，２１，２２と通信する通信方式を、所定の条件に従ってクラウド方式とＰ２Ｐ方式との間で切り替える通信切替部と、を有する。コンピュータ１０，１１は、例えばスマートフォンで構成されるが、パーソナルコンピュータ等で構成されてもよい。コンピュータ１０，１１のユーザは、ロボット２０，２１，２２を介して、ロボット２０，２１，２２が配置されている遠隔地にいる他のユーザとコミュニケーションをとることができる。 The computers 10 and 11 are between an input unit that receives an input of an instruction from a user, a display unit that displays an image taken by the cameras of the robots 20, 21 and 22, and the robots 20, 21 and 22 through a communication network. It has a communication unit for transmitting and receiving data in the above, and a communication switching unit for switching the communication method in which the computers 10 and 11 communicate with the robots 20, 21 and 22 between the cloud method and the P2P method according to predetermined conditions. The computers 10 and 11 are composed of, for example, a smartphone, but may be composed of a personal computer or the like. The users of the computers 10 and 11 can communicate with other users in a remote place where the robots 20, 21 and 22 are arranged via the robots 20 and 21 and 22.
　各コンピュータ１０，１１は、同時に１つのロボット２０，２１，２２にのみ接続されてもよいし、同時に複数のロボット２０，２１，２２に接続されてもよい。後者の例として、コンピュータ１０のユーザ１が、複数の遠隔地にそれぞれ配置されたロボット２０，２１，２２を通じて、それぞれの遠隔地にいるユーザとオンライン会議を行うといった用途が挙げられる。 The computers 10 and 11 may be connected to only one robot 20,21,22 at the same time, or may be connected to a plurality of robots 20,21,22 at the same time. As an example of the latter, there is an application in which a user 1 of a computer 10 holds an online conference with a user in each remote place through robots 20, 21 and 22, respectively arranged in a plurality of remote places.
　通信切替部が通信方式を切り替える際の条件は、適宜設定することができる。例えば、通信切替部は、入力部に入力される指示に基づいて選択されるロボット２０，２１，２２の用途に応じて通信方式を切り替えてもよい。 The conditions for the communication switching unit to switch the communication method can be set as appropriate. For example, the communication switching unit may switch the communication method according to the application of the robots 20, 21, 22 selected based on the instruction input to the input unit.
　一例として、ロボット２０，２１，２２が家族間や友人間などの個人間のコミュニケーション（以下、「個人間利用」ともいう。）に用いられる場合、通信方式はコストが割安なＰ２Ｐ方式に切り替えられてもよい。また、ロボット２０，２１，２２が会議等の用途で用いられる場合も、クラウド上にデータを保存する必要がなければ、通信方式はＰ２Ｐ方式に切り替えられてもよい。もちろん、会議等の用途で用いられる場合でも、会議を記録した議事録や動画等をクラウド上に保存することで利便性が高まるような場合には、通信方式をクラウド方式に切り替えられるようにしてもよい。 As an example, when the robots 20, 21 and 22 are used for communication between individuals such as between family members and friends (hereinafter, also referred to as "individual use"), the communication method is switched to the P2P method at a low cost. You may. Further, even when the robots 20, 21 and 22, are used for a purpose such as a conference, the communication method may be switched to the P2P method if it is not necessary to store the data on the cloud. Of course, even if it is used for meetings, etc., if the convenience is improved by saving the minutes and videos that recorded the meeting on the cloud, the communication method can be switched to the cloud method. May be good.
　別の例として、ロボット２０，２１，２２が不特定のユーザへのサービス提供（以下、「不特定利用」ともいう。）に用いられる場合、通信方式はクラウド方式に切り替えられてもよい。この場合、ロボット２０，２１，２２を利用する過程において検出又は送受信されるデータをクラウドサーバに蓄積することができ、蓄積されたデータを活用することも可能となる。 As another example, when the robots 20, 21 and 22, are used to provide services to unspecified users (hereinafter, also referred to as "unspecified use"), the communication method may be switched to the cloud method. In this case, the data detected or transmitted / received in the process of using the robots 20, 21 and 22 can be stored in the cloud server, and the stored data can be utilized.
　例えば、ロボット２０，２１，２２が美術館等の施設に配置されている場合、ユーザがロボット２０，２１，２２を遠隔操作して展示物を鑑賞するときには、コンピュータ１０、１１がクラウド方式でロボット２０，２１，２２と通信されるように設定されてもよい。この場合、コンピュータ１０，１１とロボット２０，２１，２２との間で送受信されたデータや、コンピュータ１０，１１の遠隔操作によるロボット２０，２１，２２の行動履歴（ログデータ）や、ロボット２０，２１，２２の周囲の環境情報（温度、湿度、天気、周囲の混雑状況）等を収集し、クラウドサーバに蓄積することができる。他方、同じ美術館に配置されたロボット２０，２１，２２を夜間警備に使用するときには、ユーザ（例えば警備会社の担当者）が操作するコンピュータ１０，１１がＰ２Ｐ方式でロボット２０と通信されるように設定されてもよい。 For example, when the robots 20, 21 and 22 are arranged in a facility such as a museum, when the user remotely controls the robots 20, 21 and 22 to view the exhibits, the computers 10 and 11 use the cloud method to display the robot 20. , 21 and 22 may be set to communicate with each other. In this case, the data transmitted / received between the computers 10 and 11 and the robots 20, 21 and 22, the action history (log data) of the robots 20 and 21 and 22 by remote control of the computers 10 and 11, and the robot 20, It is possible to collect environmental information (temperature, humidity, weather, surrounding congestion status) and the like around 21 and 22 and store them in the cloud server. On the other hand, when the robots 20, 21 and 22 arranged in the same museum are used for night security, the computers 10 and 11 operated by the user (for example, the person in charge of the security company) are communicated with the robot 20 by the P2P method. It may be set.
　さらに別の例として、ロボット２０，２１，２２がデパートに配置されている場合、ユーザがロボット２０，２１，２２を遠隔操作して売り場を回り、所望の買い物をするときには、コンピュータ１０，１１がクラウド方式でロボット２０，２１，２２と通信されるように設定されてもよい。この場合、ロボット２０，２１，２２のログデータや周囲の環境情報の他、ユーザの購買情報や嗜好に関する情報等をクラウドサーバに蓄積することもできる。 As yet another example, when the robots 20, 21 and 22 are arranged in a department store, when the user remotely controls the robots 20, 21 and 22 to go around the sales floor and make a desired shopping, the computers 10 and 11 are used. It may be set to communicate with the robots 20, 21 and 22 by a cloud method. In this case, in addition to the log data of the robots 20, 21 and 22, and the surrounding environment information, information on the user's purchase information and preferences can be stored in the cloud server.
　また、通信切替部は、コンピュータ１０，１１を介してロボット２０，２１，２２を利用する際の料金プランに応じて通信方式を切り替えてもよい。例えば、定額プランでロボット２０，２１，２２を利用する場合にはクラウド方式とし、単位時間あたりいくらといった従量制プランでロボット２０，２１，２２を利用する場合にはＰ２Ｐ方式としてもよい。 Further, the communication switching unit may switch the communication method according to the charge plan when using the robots 20, 21 and 22 via the computers 10 and 11. For example, when the robots 20, 21 and 22 are used in the flat-rate plan, the cloud method may be used, and when the robots 20, 21 and 22 are used in the pay-as-you-go plan such as how much per unit time, the P2P method may be used.
　また、通信切替部は、コンピュータ１０，１１とロボット２０，２１，２２との間で送受信されるデータの種類又は形式に応じて、通信方式をデータごとに切り替えてもよい。例えば、コンピュータ１０，１１からコマンドを送信する場合には、データ量が少ないため、クラウド方式としてもよい。また、例えば、コンピュータ１０のユーザ１と、ロボット２０が配置されている遠隔地のユーザ２とが会議する場合、リアルタイムな動画はＰ２Ｐ方式で送受信され、画面共有されるスライド資料（例えばＰＰＴファイル）や議事録（例えばテキストファイル）はクラウド方式で送受信されることとしてもよい。 Further, the communication switching unit may switch the communication method for each data according to the type or format of the data transmitted / received between the computers 10 and 11 and the robots 20, 21 and 22. For example, when a command is transmitted from the computers 10 and 11, the cloud method may be used because the amount of data is small. Further, for example, when the user 1 of the computer 10 and the user 2 in a remote place where the robot 20 is arranged have a meeting, the real-time moving image is transmitted and received by the P2P method, and the slide material (for example, PPT file) shared on the screen. And minutes (for example, text files) may be sent and received by the cloud method.
　或いは、コンピュータ１０，１１とロボット２０，２１，２２との間で動画を送受信する際、音声データについてはクラウド方式で送受信され、映像データについてはＰ２Ｐ方式で送受信されるように、データごとに通信方式を切り替えてもよい。この場合、コンピュータ１０，１１及びロボット２０，２１，２２の各々において、受信した映像データと音声データとが同期されて再生される。ここで、映像データは音声データと比較してデータ量が多いため、通信の遅延が生じやすい。そこで、データ量が比較的少ない音声データをクラウド方式で送受信し、データ量が比較的多い映像データをＰ２Ｐ方式で送受信することにより、両データを受信するタイミングのズレを低減することができる。 Alternatively, when transmitting and receiving moving images between the computers 10 and 11 and the robots 20, 21 and 22, audio data is transmitted and received by the cloud method, and video data is transmitted and received by the P2P method. You may switch the method. In this case, the received video data and audio data are synchronized and reproduced in each of the computers 10 and 11 and the robots 20, 21 and 22. Here, since the amount of video data is larger than that of audio data, communication delay is likely to occur. Therefore, by transmitting and receiving audio data having a relatively small amount of data by the cloud method and transmitting and receiving video data having a relatively large amount of data by the P2P method, it is possible to reduce the timing difference between receiving both data.
　また、通信切替部は、１つのコンピュータ１０を１つのロボット２０にのみ接続（いわゆる１：１接続）する場合にＰ２Ｐ方式に切り替え、１つのコンピュータ（例えばコンピュータ１０）を複数のロボット２０，２１，２２に同時に接続する場合、或いは、１つのロボット２０に複数のコンピュータ１，１１を同時に接続（いわゆる１：ｎ接続）する場合に、クラウド方式に切り替えてもよい。一例として、１人のユーザがコンピュータ１０からロボット２０に接続して遠隔操作し、他の複数のユーザが別の複数のコンピュータ１１からロボット２０にそれぞれ接続して、ロボット２０が撮影した画像を共有するといった場合には、クラウド方式に切り替えられることとしてもよい。 Further, the communication switching unit switches to the P2P method when one computer 10 is connected to only one robot 20 (so-called 1: 1 connection), and one computer (for example, the computer 10) is connected to the plurality of robots 20, 21. When connecting to 22 at the same time, or when connecting a plurality of computers 1 and 11 to one robot 20 at the same time (so-called 1: n connection), the cloud method may be switched. As an example, one user connects to the robot 20 from the computer 10 for remote control, and another plurality of users connect to the robot 20 from another plurality of computers 11 to share an image taken by the robot 20. In that case, it may be possible to switch to the cloud method.
　また、通信切替部は、Ｐ２Ｐ方式で通信が行われている間であっても、所定の周期で所定の期間だけ、通信方式をクラウド方式に切り替えてもよい。この場合、コンピュータ１０，１１とロボット２０，２１，２２との間で送受信されているデータを所定のレートでサンプリングすることにより、クラウドサーバにデータを蓄積することができる。例えば、遠隔操作によりロボット２０が移動する間にデータをサンプリングすることにより、移動経路の地図情報を取得したりすることもできる。 Further, the communication switching unit may switch the communication method to the cloud method in a predetermined cycle and for a predetermined period even while the communication is being performed by the P2P method. In this case, the data can be stored in the cloud server by sampling the data transmitted / received between the computers 10 and 11 and the robots 20, 21 and 22 at a predetermined rate. For example, it is possible to acquire map information of a movement route by sampling data while the robot 20 is moving by remote control.
　また、通信切替部は、入力部に入力される、通信方式を切り替える旨のユーザからの指示に応じて、コンピュータ１０，１１とロボット２０，２１，２２との間における通信方式を切り替えてもよい。 Further, the communication switching unit may switch the communication method between the computers 10 and 11 and the robots 20, 21 and 22 in response to an instruction from the user to switch the communication method input to the input unit. ..
　さらに、通信切替部は、クラウドサーバがダウンした際に、コンピュータ１０，１１とロボット２０，２１，２２との間における通信方式をＰ２Ｐ方式に自動的に切り替えてもよい。なお、クラウドサーバがダウンしたか否かは、例えば監視システム（図示略）によるクラウドサーバのモニタリング結果を利用すればよい。 Further, the communication switching unit may automatically switch the communication method between the computers 10 and 11 and the robots 20, 21 and 22 to the P2P method when the cloud server goes down. Whether or not the cloud server has gone down may be determined by using, for example, the monitoring result of the cloud server by a monitoring system (not shown).
　本実施形態に係るコミュニケーションシステム１００によれば、コンピュータ１０，１１が、所定の条件に従って、遠隔操作するロボット２０，２１，２２との通信方式を、クラウド方式とＰ２Ｐ方式との間で切り替えるので、それぞれの通信方式の利点を活かしたデータの送受信を行うことができる。それにより、ロボット２０，２１，２２とコンピュータ１０，１１との間で効率的な通信を行うことが可能となる。 According to the communication system 100 according to the present embodiment, the computers 10 and 11 switch the communication method with the remotely controlled robots 20, 21 and 22 between the cloud method and the P2P method according to predetermined conditions. It is possible to send and receive data by taking advantage of each communication method. As a result, efficient communication can be performed between the robots 20, 21 and 22, and the computers 10 and 11.
　以下、コンピュータ１０，１１を総称してコンピュータ１０と呼ぶ。また、ロボット２０，２１，２２を総称してロボット２０と呼ぶ。 Hereinafter, the computers 10 and 11 are collectively referred to as the computer 10. Further, the robots 20, 21 and 22, are collectively referred to as a robot 20.
　図２は、本実施形態に係るコンピュータ１０の物理的構成を示す図である。コンピュータ１０は、演算部に相当するＣＰＵ（Central Processing Unit）１０ａと、記憶部に相当するＲＡＭ（Random Access Memory）１０ｂと、記憶部に相当するＲＯＭ（Read only Memory）１０ｃと、通信部１０ｄと、入力部１０ｅと、表示部１０ｆと、を有する。これらの各構成は、バスを介して相互にデータ送受信可能に接続される。なお、本例ではコンピュータ１０が一台のコンピュータで構成される場合について説明するが、コンピュータ１０は、複数のコンピュータが組み合わされて実現されてもよい。また、図２で示す構成は一例であり、コンピュータ１０はこれら以外の構成を有してもよいし、これらの構成のうち一部を有さなくてもよい。 FIG. 2 is a diagram showing a physical configuration of the computer 10 according to the present embodiment. The computer 10 includes a CPU (Central Processing Unit) 10a corresponding to a calculation unit, a RAM (RandomAccessMemory) 10b corresponding to a storage unit, a ROM (ReadonlyMemory) 10c corresponding to a storage unit, and a communication unit 10d. , And an input unit 10e and a display unit 10f. Each of these configurations is connected to each other via a bus so that data can be transmitted and received. In this example, the case where the computer 10 is composed of one computer will be described, but the computer 10 may be realized by combining a plurality of computers. Further, the configuration shown in FIG. 2 is an example, and the computer 10 may have configurations other than these, or may not have a part of these configurations.
　ＣＰＵ１０ａは、ＲＡＭ１０ｂ又はＲＯＭ１０ｃに記憶されたプログラムの実行に関する制御やデータの演算、加工を行う制御部である。ＣＰＵ１０ａは、ロボットを介したコミュニケーションを制御するプログラム（コミュニケーションプログラム）を実行する演算部である。ＣＰＵ１０ａは、入力部１０ｅや通信部１０ｄから種々のデータを受け取り、データの演算結果を表示部１０ｆに表示したり、ＲＡＭ１０ｂに格納したりする。 The CPU 10a is a control unit that controls execution of a program stored in the RAM 10b or ROM 10c, calculates data, and processes data. The CPU 10a is a calculation unit that executes a program (communication program) for controlling communication via a robot. The CPU 10a receives various data from the input unit 10e and the communication unit 10d, displays the calculation result of the data on the display unit 10f, and stores the data in the RAM 10b.
　ＲＡＭ１０ｂは、記憶部のうちデータの書き換えが可能なものであり、例えば半導体記憶素子で構成されてよい。ＲＡＭ１０ｂは、ＣＰＵ１０ａが実行するプログラム、ユーザ情報といったデータを記憶してよい。なお、これらは例示であって、ＲＡＭ１０ｂには、これら以外のデータが記憶されていてもよいし、これらの一部が記憶されていなくてもよい。 The RAM 10b is a storage unit in which data can be rewritten, and may be composed of, for example, a semiconductor storage element. The RAM 10b may store data such as a program executed by the CPU 10a and user information. It should be noted that these are examples, and data other than these may be stored in the RAM 10b, or a part of these may not be stored.
　ＲＯＭ１０ｃは、記憶部のうちデータの読み出しが可能なものであり、例えば半導体記憶素子で構成されてよい。ＲＯＭ１０ｃは、例えばコミュニケーションプログラムや、書き換えが行われないデータを記憶してよい。 The ROM 10c is a storage unit capable of reading data, and may be composed of, for example, a semiconductor storage element. The ROM 10c may store, for example, a communication program or data that is not rewritten.
　通信部１０ｄは、コンピュータ１０を他の機器に接続するインターフェースである。通信部１０ｄは、インターネットや電話回線等の通信ネットワークに接続されてよい。 The communication unit 10d is an interface for connecting the computer 10 to another device. The communication unit 10d may be connected to a communication network such as the Internet or a telephone line.
　入力部１０ｅは、ユーザからデータの入力を受け付けるものであり、例えば、キーボード及びタッチパネルを含んでよい。また、入力部１０ｅは、音声入力のためのマイクを含んでよい。 The input unit 10e receives data input from the user, and may include, for example, a keyboard and a touch panel. Further, the input unit 10e may include a microphone for voice input.
　表示部１０ｆは、ＣＰＵ１０ａによる演算結果を視覚的に表示するものであり、例えば、ＬＣＤ（Liquid Crystal Display）により構成されてよい。表示部１０ｆは、ロボット２０のカメラ２０ｈで撮影された画像を表示してよい。 The display unit 10f visually displays the calculation result by the CPU 10a, and may be configured by, for example, an LCD (Liquid Crystal Display). The display unit 10f may display an image taken by the camera 20h of the robot 20.
　コミュニケーションプログラムは、ＲＡＭ１０ｂやＲＯＭ１０ｃ等のコンピュータによって読み取り可能な記憶媒体に記憶されて提供されてもよいし、通信部１０ｄにより接続される通信ネットワークを介して提供されてもよい。コンピュータ１０では、ＣＰＵ１０ａがコミュニケーションプログラムを実行することにより、ロボット２０を制御するための様々な動作や、コンピュータ１０とロボット２０との間の通信方式を切り替える通信切替部としての動作が実現される。なお、これらの物理的な構成は例示であって、必ずしも独立した構成でなくてもよい。例えば、コンピュータ１０は、ＣＰＵ１０ａとＲＡＭ１０ｂやＲＯＭ１０ｃが一体化したＬＳＩ（Large－Scale Integration）を備えていてもよい。 The communication program may be stored in a storage medium readable by a computer such as RAM 10b or ROM 10c and provided, or may be provided via a communication network connected by the communication unit 10d. In the computer 10, various operations for controlling the robot 20 and operations as a communication switching unit for switching the communication method between the computer 10 and the robot 20 are realized by the CPU 10a executing the communication program. It should be noted that these physical configurations are examples and do not necessarily have to be independent configurations. For example, the computer 10 may include an LSI (Large-Scale Integration) in which the CPU 10a is integrated with the RAM 10b and the ROM 10c.
　図３は、本実施形態に係るロボット２０の物理的構成を示す図である。ロボット２０は、演算部に相当するＣＰＵ２０ａと、記憶部に相当するＲＡＭ２０ｂと、記憶部に相当するＲＯＭ２０ｃと、通信部２０ｄと、入力部２０ｅと、表示部２０ｆと、駆動部２０ｇと、カメラ２０ｈとを有する。これらの各構成は、バスを介して相互にデータ送受信可能に接続される。なお、図３で示す構成は一例であり、ロボット２０はこれら以外の構成を有してもよいし、これらの構成のうち一部を有さなくてもよい。 FIG. 3 is a diagram showing a physical configuration of the robot 20 according to the present embodiment. The robot 20 includes a CPU 20a corresponding to a calculation unit, a RAM 20b corresponding to a storage unit, a ROM 20c corresponding to a storage unit, a communication unit 20d, an input unit 20e, a display unit 20f, a drive unit 20g, and a camera 20h. And have. Each of these configurations is connected to each other via a bus so that data can be transmitted and received. The configuration shown in FIG. 3 is an example, and the robot 20 may have configurations other than these, or may not have a part of these configurations.
　ＣＰＵ２０ａは、ＲＡＭ２０ｂ又はＲＯＭ２０ｃに記憶されたプログラムの実行に関する制御やデータの演算、加工を行う制御部である。ＣＰＵ２０ａは、ロボットを介したコミュニケーションを制御するプログラム（コミュニケーションプログラム）を実行する演算部である。ＣＰＵ２０ａは、入力部２０ｅや通信部２０ｄから種々のデータを受け取り、データの演算結果を表示部２０ｆに表示したり、ＲＡＭ２０ｂに格納したりする。また、ＣＰＵ２０ａは、駆動部２０ｇを制御し、ロボット２０の動作を制御する。 The CPU 20a is a control unit that controls execution of a program stored in the RAM 20b or ROM 20c, calculates data, and processes data. The CPU 20a is a calculation unit that executes a program (communication program) for controlling communication via a robot. The CPU 20a receives various data from the input unit 20e and the communication unit 20d, displays the calculation result of the data on the display unit 20f, and stores the data in the RAM 20b. Further, the CPU 20a controls the drive unit 20g and controls the operation of the robot 20.
　ＲＡＭ２０ｂは、記憶部のうちデータの書き換えが可能なものであり、例えば半導体記憶素子で構成されてよい。ＲＡＭ２０ｂは、ＣＰＵ２０ａが実行するプログラムを記憶してよい。なお、これらは例示であって、ＲＡＭ２０ｂには、これら以外のデータが記憶されていてもよいし、これらの一部が記憶されていなくてもよい。 The RAM 20b is a storage unit in which data can be rewritten, and may be composed of, for example, a semiconductor storage element. The RAM 20b may store a program executed by the CPU 20a. It should be noted that these are examples, and data other than these may be stored in the RAM 20b, or a part of these may not be stored.
　ＲＯＭ２０ｃは、記憶部のうちデータの読み出しが可能なものであり、例えば半導体記憶素子で構成されてよい。ＲＯＭ２０ｃは、例えばコミュニケーションプログラムや、書き換えが行われないデータを記憶してよい。 The ROM 20c is a storage unit capable of reading data, and may be composed of, for example, a semiconductor storage element. The ROM 20c may store, for example, a communication program or data that is not rewritten.
　通信部２０ｄは、ロボット２０を他の機器に接続するインターフェースである。通信部２０ｄは、インターネット等の通信ネットワークに接続されてよい。 The communication unit 20d is an interface for connecting the robot 20 to other devices. The communication unit 20d may be connected to a communication network such as the Internet.
　入力部２０ｅは、ユーザからデータの入力を受け付けるものであり、例えば、タッチパネルを含んでよい。また、入力部２０ｅは、音声入力のためのマイクを含んでよい。 The input unit 20e receives data input from the user, and may include, for example, a touch panel. Further, the input unit 20e may include a microphone for voice input.
　表示部２０ｆは、ＣＰＵ２０ａによる演算結果を視覚的に表示するものであり、例えば、ＬＣＤにより構成されてよい。コンピュータ１０がカメラを備える場合、表示部２０ｆは、コンピュータ１０のカメラで撮影された画像を表示してもよい。 The display unit 20f visually displays the calculation result by the CPU 20a, and may be configured by, for example, an LCD. When the computer 10 includes a camera, the display unit 20f may display an image taken by the camera of the computer 10.
　駆動部２０ｇは、遠隔操作可能なアクチュエータを含み、車輪等の移動部やマニピュレータ等を含む。ロボット２０が移動型のロボットである場合、駆動部２０ｇは、少なくとも車輪等の移動部を含むが、マニピュレータを含んでもよい。ロボット２０が装着型である場合、駆動部２０ｇは、少なくともマニピュレータを含む。 The drive unit 20 g includes an actuator that can be remotely controlled, and includes a moving unit such as a wheel and a manipulator. When the robot 20 is a mobile robot, the drive unit 20 g includes at least a moving unit such as a wheel, but may include a manipulator. When the robot 20 is a wearable type, the drive unit 20 g includes at least a manipulator.
　カメラ２０ｈは、静止画又は動画を撮像する撮像素子を含み、撮像した静止画又は動画を、通信部２０ｄを介してコンピュータ１０に送信する。 The camera 20h includes an image sensor that captures a still image or a moving image, and transmits the captured still image or the moving image to the computer 10 via the communication unit 20d.
　コミュニケーションプログラムは、ＲＡＭ２０ｂやＲＯＭ２０ｃ等のコンピュータによって読み取り可能な記憶媒体に記憶されて提供されてもよいし、通信部２０ｄにより接続される通信ネットワークを介して提供されてもよい。ロボット２０では、ＣＰＵ２０ａがコミュニケーションプログラムを実行することにより、ロボット２０を制御するための様々な動作が実現される。なお、これらの物理的な構成は例示であって、必ずしも独立した構成でなくてもよい。例えば、ロボット２０は、ＣＰＵ２０ａとＲＡＭ２０ｂやＲＯＭ２０ｃが一体化したＬＳＩを備えていてもよい。 The communication program may be stored in a storage medium readable by a computer such as RAM 20b or ROM 20c and provided, or may be provided via a communication network connected by the communication unit 20d. In the robot 20, various operations for controlling the robot 20 are realized by the CPU 20a executing a communication program. It should be noted that these physical configurations are examples and do not necessarily have to be independent configurations. For example, the robot 20 may include an LSI in which the CPU 20a and the RAM 20b or the ROM 20c are integrated.
　図４は、本実施形態に係るコンピュータ１０により実行される処理の一例を示すフローチャートである。 FIG. 4 is a flowchart showing an example of processing executed by the computer 10 according to the present embodiment.
　コンピュータ１０は、入力部１０ｅにおいてロボット２０と接続する指示を受け付けると（Ｓ１０）、ユーザからの指示またはシステム設定に応じて通信方式を選択する（Ｓ１１）。ここでは、例えば「個人間利用の場合にはＰ２Ｐ方式」、「不特定利用の場合にはクラウド方式」等のシステム設定がなされている場合を想定する。 When the computer 10 receives an instruction to connect to the robot 20 in the input unit 10e (S10), the computer 10 selects a communication method according to an instruction from the user or a system setting (S11). Here, it is assumed that system settings such as "P2P method in the case of interpersonal use" and "cloud method in the case of unspecified use" are made.
＜個人間利用の場合＞
　コンピュータ１０は、上記設定がなされた状態において、個人間利用のためにロボット２０と接続する指示を受けた場合には、ロボット２０との通信方式としてＰ２Ｐ方式を選択する（Ｓ１２）。 <For personal use>
When the computer 10 receives an instruction to connect to the robot 20 for interpersonal use in the state where the above settings are made, the computer 10 selects the P2P method as the communication method with the robot 20 (S12).
　図５は、個人間利用を目的とするロボット２０との接続指示を受け付けた場合に、表示部１０ｆに表示される通話先選択画面を例示した図である。
　この通話先選択画面には、予め登録された個人の接続先を示すアイコン１１１～１１４が表示されている。コンピュータ１０は、例えば「Ａさん」と表示されたアイコン１１１が操作されたことを検知すると、通信方式としてＰ２Ｐを選択し、Ａさん宅に配置されたロボット２０との間でＰ２Ｐ方式による通信を開始し、データの送受信を行う。 FIG. 5 is a diagram illustrating a call destination selection screen displayed on the display unit 10f when a connection instruction with the robot 20 for personal use is received.
On this call destination selection screen, icons 111 to 114 indicating the connection destination of a pre-registered individual are displayed. When the computer 10 detects that, for example, the icon 111 displayed as "Mr. A" has been operated, it selects P2P as the communication method and communicates with the robot 20 arranged at Mr. A's house by the P2P method. Start and send / receive data.
　その後、コンピュータ１０は、通信方式を切り替える操作がなされたか否かを判断する（Ｓ１３）。コンピュータ１０は、通信方式を切り替える操作がなされない場合には（Ｓ１３：Ｎｏ）、引き続きＰ２Ｐ方式でロボット２０と通信を行い、データの送受信を行う。その後、コンピュータ１０は、切断操作を検知したか否かを判断する（Ｓ１６）。コンピュータ１０は、切断操作を検知しない場合には（Ｓ１６：Ｎｏ）、Ｓ１１に戻り、上述した一連の処理を繰り返し実行する一方、切断操作を検知すると（Ｓ１６：Ｙｅｓ）、ロボット２０との通信を切断し（Ｓ１７）、処理を終了する。 After that, the computer 10 determines whether or not the operation for switching the communication method has been performed (S13). If the operation for switching the communication method is not performed (S13: No), the computer 10 continues to communicate with the robot 20 by the P2P method to transmit and receive data. After that, the computer 10 determines whether or not the disconnection operation has been detected (S16). If the computer 10 does not detect the disconnection operation (S16: No), it returns to S11 and repeatedly executes the above-mentioned series of processes, while if it detects the disconnection operation (S16: Yes), it communicates with the robot 20. Disconnect (S17) and end the process.
　一方、Ｓ１３において、コンピュータ１０は、通信方式を切り替える操作がなされたことを検知すると（Ｓ１３：Ｙｅｓ）、通信方式をＰ２Ｐ方式からクラウド方式に切り替えるべく、クラウド方式を選択する（Ｓ１４）。例えば、コンピュータ１０は、図５に例示する通信方式を切り替える指示を入力するためのアイコン１１５に対する操作を検知すると、通信方式をＰ２Ｐ方式からクラウド方式に切り替える。 On the other hand, in S13, when the computer 10 detects that the operation of switching the communication method has been performed (S13: Yes), the computer 10 selects the cloud method in order to switch the communication method from the P2P method to the cloud method (S14). For example, when the computer 10 detects an operation on the icon 115 for inputting an instruction for switching the communication method illustrated in FIG. 5, the computer 10 switches the communication method from the P2P method to the cloud method.
　これにより、例えば、個人間の日常的な連絡を行う場合には、基本的には、通信コストが割安なＰ２Ｐ方式が選択されるが、記録をクラウドサーバに保存したいといったユーザの希望がある場合には、クラウド方式に切り替えることができる。 As a result, for example, in the case of daily communication between individuals, the P2P method, which has a low communication cost, is basically selected, but there is a user's desire to save the record in the cloud server. You can switch to the cloud method.
＜不特定利用の場合＞
　一方、コンピュータ１０は、上記設定がなされた状態において、個人間利用ではなく、不特定利用のためにロボット２０と接続する指示を受けた場合には、ロボット２０との通信方式としてクラウド方式を選択する（Ｓ１４）。 <For unspecified use>
On the other hand, when the computer 10 receives an instruction to connect to the robot 20 for unspecified use instead of interpersonal use in the state where the above settings are made, the computer 10 selects the cloud method as the communication method with the robot 20. (S14).
　図６は、不特定利用を目的とするロボット２０との接続指示を受け付けた場合に、表示部１０ｆに表示されるサービス選択画面を例示した図である。
　このサービス選択画面には、例えば、英会話、医療相談、買い物といったサービスを示すアイコン１２１～１２３が表示されている。コンピュータ１０は、例えば「英会話」と表示されたアイコン１２１に対する操作を検知すると、通信方式としてクラウド方式を選択し、英会話教室に配置されたロボット２０との間でクラウド方式による通信を開始し、データの送受信を行う。この場合、例えば英会話レッスンの教材や、レッスン記録などのデータをクラウドサーバに蓄積したり、クラウドサーバに蓄積されたデータを利用したりすることができる。また、コンピュータ１０は、「買い物」と表示されたアイコン１２３に対する操作を検知すると、デパートに配置されたロボット２０との間でクラウド方式による通信を開始し、データの送受信を行う。この場合、コンピュータ１０の遠隔操作によるロボット２０の行動履歴、ユーザが購入した商品情報、ロボット２０の周囲の環境情報等をクラウドサーバに蓄積することができる。 FIG. 6 is a diagram illustrating a service selection screen displayed on the display unit 10f when a connection instruction with the robot 20 for unspecified use is received.
On this service selection screen, for example, icons 121 to 123 indicating services such as English conversation, medical consultation, and shopping are displayed. When the computer 10 detects an operation on the icon 121 displayed as "English conversation", for example, it selects the cloud method as the communication method, starts communication by the cloud method with the robot 20 arranged in the English conversation classroom, and performs data. Send and receive. In this case, for example, data such as teaching materials for English conversation lessons and lesson records can be stored in the cloud server, and the data stored in the cloud server can be used. Further, when the computer 10 detects an operation on the icon 123 displayed as "shopping", it starts communication by a cloud method with the robot 20 arranged in the department store and transmits / receives data. In this case, the behavior history of the robot 20 by remote control of the computer 10, product information purchased by the user, environmental information around the robot 20, and the like can be stored in the cloud server.
　その後、コンピュータ１０は、通信方式を切り替える操作がなされたか否かを判断する（Ｓ１５）。コンピュータ１０は、当該操作がなされない場合には（Ｓ１５：Ｎｏ）、引き続きクラウド方式でロボット２０と通信を行い、データの送受信を行う。その後、コンピュータ１０は、切断操作を検知したか否かを判断する（Ｓ１６）。コンピュータ１０は、切断操作を検知しない場合には（Ｓ１６：Ｎｏ）、Ｓ１１に戻り、上述した一連の処理を繰り返し実行する一方、切断操作を検知すると（Ｓ１６：Ｙｅｓ）、ロボット２０との通信を切断し（Ｓ１７）、処理を終了する。 After that, the computer 10 determines whether or not the operation for switching the communication method has been performed (S15). If the operation is not performed (S15: No), the computer 10 continues to communicate with the robot 20 by a cloud method to send and receive data. After that, the computer 10 determines whether or not the disconnection operation has been detected (S16). If the computer 10 does not detect the disconnection operation (S16: No), it returns to S11 and repeatedly executes the above-mentioned series of processes, while if it detects the disconnection operation (S16: Yes), it communicates with the robot 20. Disconnect (S17) and end the process.
　一方、Ｓ１５において、コンピュータ１０は、通信方式を切り替える操作がなされたことを検知すると（Ｓ１５：Ｙｅｓ）、通信方式をクラウド方式からＰ２Ｐ方式へ切り替えるべく、Ｐ２Ｐ方式を選択する（Ｓ１２）。例えば、コンピュータ１０は、図６に例示する通信方式を切り替える指示を入力するためのアイコン１２４に対する操作を検知すると、通信方式をクラウド方式からＰ２Ｐ方式に切り替える。 On the other hand, in S15, when the computer 10 detects that the operation of switching the communication method has been performed (S15: Yes), the computer 10 selects the P2P method in order to switch the communication method from the cloud method to the P2P method (S12). For example, when the computer 10 detects an operation on the icon 124 for inputting an instruction for switching the communication method illustrated in FIG. 6, the computer 10 switches the communication method from the cloud method to the P2P method.
　具体例を挙げて説明すると、コンピュータ１０は、図６に示す「医療相談」と表示されたアイコン１２２に対する操作を検知すると、まずはクラウド方式を選択し、ユーザの操作に従って、クラウド方式で通信しながら相談先（接続先）の医師を検索し、医師の元に配置されたロボット２０と接続する。その後、ユーザの操作に従って、通信方式をＰ２Ｐに切り替えることもできる。 Explaining by giving a specific example, when the computer 10 detects an operation on the icon 122 displayed as "medical consultation" shown in FIG. 6, it first selects a cloud method and communicates by the cloud method according to the user's operation. The doctor to be consulted (connection destination) is searched, and the robot 20 arranged under the doctor is connected. After that, the communication method can be switched to P2P according to the user's operation.
　このように、本実施形態では、システム設定に応じて、通信方式がＰ２Ｐ方式又はクラウド方式に自動設定されるので、柔軟かつ効率的な通信を行うことが可能となる。このとき、コンピュータ１０のユーザは、設定されている通信方式を意識することなく、効率よく、遠隔操作によりロボット２０を利用することができる。 As described above, in the present embodiment, the communication method is automatically set to the P2P method or the cloud method according to the system setting, so that flexible and efficient communication can be performed. At this time, the user of the computer 10 can efficiently and remotely control the robot 20 without being aware of the set communication method.
　また、本実施形態においては、デフォルトの設定に対し、ユーザが、通信方式をＰ２Ｐ方式又はクラウド方式に適宜切り替えることができるので、多様なユーザのニーズに応じた通信方式でロボット２０を遠隔制御することができる。 Further, in the present embodiment, since the user can appropriately switch the communication method to the P2P method or the cloud method with respect to the default setting, the robot 20 is remotely controlled by the communication method according to the needs of various users. be able to.
　なお、上記実施形態においては、コンピュータ１０においてロボット２０との通信方式が設定されることとしたが、クラウドサーバにおいて通信方式が設定されることとしてもよい。例えば、買い物など特定のサービスのために使用されるロボット２０は、クラウド方式でしかコンピュータ１０と接続することができず、コンピュータ１０側の操作では通信方式を切り替えることができない設定としてもよい。 In the above embodiment, the communication method with the robot 20 is set in the computer 10, but the communication method may be set in the cloud server. For example, the robot 20 used for a specific service such as shopping may be set so that it can be connected to the computer 10 only by the cloud method and the communication method cannot be switched by the operation of the computer 10.
　以上説明した実施形態は、本発明の理解を容易にするためのものであり、本発明を限定して解釈するためのものではない。実施形態が備える各要素並びにその配置、材料、条件、形状及びサイズ等は、例示したものに限定されるわけではなく適宜変更することができる。また、異なる実施形態で示した構成同士を部分的に置換し又は組み合わせることが可能である。 The embodiments described above are for facilitating the understanding of the present invention, and are not for limiting the interpretation of the present invention. Each element included in the embodiment and its arrangement, material, condition, shape, size, and the like are not limited to those exemplified, and can be appropriately changed. Further, it is possible to partially replace or combine the configurations shown in different embodiments.
　１，２…ユーザ、１０，１１…コンピュータ、１０ａ，２０ａ…ＣＰＵ、１０ｂ，２０ｂ…ＲＡＭ、１０ｃ，２０ｃ…ＲＯＭ、１０ｄ，２０ｄ…通信部、１０ｅ，２０ｅ…入力部、１０ｆ，２０ｆ…表示部、２０ｇ…駆動部、２０ｈ…カメラ、２０ｅ…入力部、２０，２１，２２…ロボット、１００…コミュニケーションシステム、１１１～１１５，１２１～１２４…アイコン 1,2 ... User, 10,11 ... Computer, 10a, 20a ... CPU, 10b, 20b ... RAM, 10c, 20c ... ROM, 10d, 20d ... Communication unit, 10e, 20e ... Input unit, 10f, 20f ... Display unit , 20g ... drive unit, 20h ... camera, 20e ... input unit, 20,21,22 ... robot, 100 ... communication system, 111-115,121-124 ... icon

Claims (10)

  1. 　固定されていないロボットと、前記ロボットと通信可能な少なくとも１つのコンピュータとを備えるコミュニケーションシステムであって、
    　前記ロボットは、
    　カメラと、
    　前記コンピュータによる遠隔操作が可能な駆動部と、
    を有し、
    　前記コンピュータは、
    　ユーザからの指示の入力を受け付ける入力部と、
    　前記カメラで撮影された画像を表示する表示部と、
    　通信ネットワークを通じて前記ロボットとの間でデータを送受信する通信部と、
    　当該コンピュータと前記ロボットとの間の通信方式を、所定の条件に従って、前記通信ネットワークに接続されたデータセンタを介してデータを送受信する第１の通信方式と、前記通信ネットワークを通じて前記ロボットと直接データを送受信する第２の通信方式との間で切り替える通信切替部と、
    を有する、
    コミュニケーションシステム。     A communication system comprising a non-fixed robot and at least one computer capable of communicating with the robot.
    The robot
    With the camera
    A drive unit that can be remotely controlled by the computer,
    Have,
    The computer
    An input unit that accepts input of instructions from the user,
    A display unit that displays images taken by the camera, and
    A communication unit that sends and receives data to and from the robot through a communication network,
    The communication method between the computer and the robot is a first communication method for transmitting and receiving data via a data center connected to the communication network according to predetermined conditions, and data directly with the robot through the communication network. A communication switching unit that switches between the second communication method for transmitting and receiving data, and
    Have,
    Communication system.
  2. 　前記通信切替部は、前記入力部に入力される指示に基づいて選択される前記ロボットの用途に応じて通信方式を切り替える、請求項１に記載のコミュニケーションシステム。 The communication system according to claim 1, wherein the communication switching unit switches a communication method according to the use of the robot selected based on an instruction input to the input unit.
  3. 　前記通信切替部は、前記ロボットが特定の個人間のコミュニケーションに用いられる場合、通信方式を前記第２の通信方式に切り替える、請求項２に記載のコミュニケーションシステム。 The communication system according to claim 2, wherein the communication switching unit switches the communication method to the second communication method when the robot is used for communication between specific individuals.
  4. 　前記通信切替部は、前記ロボットが不特定のユーザへのサービス提供に用いられる場合、通信方式を前記第１の通信方式に切り替える、請求項２に記載のコミュニケーションシステム。 The communication system according to claim 2, wherein the communication switching unit switches the communication method to the first communication method when the robot is used to provide a service to an unspecified user.
  5. 　前記通信切替部は、前記ロボットに接続する際の料金プランに応じて通信方式を切り替える、請求項２に記載のコミュニケーションシステム。 The communication system according to claim 2, wherein the communication switching unit switches a communication method according to a charge plan when connecting to the robot.
  6. 　前記通信切替部は、前記コンピュータと前記ロボットとの間で送受信されるデータの種類又は形式に応じて、通信方式をデータごとに切り替える、請求項１に記載のコミュニケーションシステム。 The communication system according to claim 1, wherein the communication switching unit switches a communication method for each data according to the type or format of data transmitted / received between the computer and the robot.
  7. 　前記通信切替部は、前記入力部に入力される通信方式を切り替える旨の指示に従って、通信方式を切り替える、請求項１に記載のコミュニケーションシステム。 The communication system according to claim 1, wherein the communication switching unit switches the communication method according to an instruction to switch the communication method input to the input unit.
  8. 　前記通信切替部は、前記コンピュータを複数の前記ロボットに同時接続する場合に前記第１の通信方式に切り替え、前記コンピュータを１つの前記ロボットにのみ接続する場合に前記第２の通信方式に切り替える、請求項１に記載のコミュニケーションシステム。 The communication switching unit switches to the first communication method when the computer is connected to a plurality of the robots at the same time, and switches to the second communication method when the computer is connected to only one robot. The communication system according to claim 1.
  9. 　前記通信切替部は、前記第２の通信方式で通信が行われている間に、所定の周期で所定の期間だけ、前記通信方式を前記第１の通信方式に切り替える、請求項１に記載のコミュニケーションシステム。 The first aspect of the present invention, wherein the communication switching unit switches the communication method to the first communication method in a predetermined cycle for a predetermined period while communication is performed by the second communication method. Communication system.
  10. 　カメラと、遠隔操作可能な駆動部と、を有する移動型又は装着型のロボットを遠隔操作するための端末装置であって、
    　ユーザからの指示の入力を受け付ける入力部と、
    　前記カメラで撮影された画像を表示する表示部と、
    　通信ネットワークを通じて前記ロボットとの間でデータを送受信する通信部と、
    　当該端末装置と前記ロボットとの間の通信方式を、所定の条件に従って、前記通信ネットワークに接続されたデータセンタを介してデータを送受信する第１の通信方式と、前記通信ネットワークを通じて前記ロボットと直接データを送受信する第２の通信方式との間で切り替える通信切替部と、
    を有する、端末装置。     A terminal device for remotely controlling a mobile or wearable robot having a camera and a drive unit that can be remotely controlled.
    An input unit that accepts input of instructions from the user,
    A display unit that displays images taken by the camera, and
    A communication unit that sends and receives data to and from the robot through a communication network,
    The communication method between the terminal device and the robot is the first communication method for transmitting and receiving data via a data center connected to the communication network according to predetermined conditions, and the communication method directly with the robot through the communication network. A communication switching unit that switches between a second communication method for transmitting and receiving data, and a communication switching unit.
    Has a terminal device.
PCT/JP2021/035592 2020-09-28 2021-09-28 Communication system and terminal device WO2022065507A1 (en)

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Citations (3)

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JP2019530067A (en) * 2016-09-27 2019-10-17 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ System and method for managing an unmanned aerial vehicle (UAV)
JP2020004200A (en) * 2018-06-29 2020-01-09 株式会社トラジェクトリー Control method of unmanned aerial vehicle

Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
JP2019530067A (en) * 2016-09-27 2019-10-17 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ System and method for managing an unmanned aerial vehicle (UAV)
WO2018087805A1 (en) * 2016-11-08 2018-05-17 マクセル株式会社 Remote control system, remote control method, and mobile information terminal
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