JP2011152593A - Robot operation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable a robot to carry out natural body movement in a simple equipment without imposing a burden on a user in a system where remote communication is performed. <P>SOLUTION: A robot operation device includes: an image input part 11 for inputting an image acquiring a space where a robot 20 exists: an image processing part 12 for processing the image input by the image input part 11 so that resolution is reduced as it gets farther away from a part of an image corresponding to the intention of the part 21 of the head or the like of the robot 20; an image display part 13 for displaying the image processed by the image processing part 12 on a display 15; and an image position specification part 14 for issuing a command for moving the part 21 so that the user in the image displayed on the display 15 is directed to a position specified by the user. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a robot operation apparatus that operates a robot used in a system in which remote communication is performed.

  Video conferencing systems (video conferencing systems) are widely used to communicate with people at remote locations. In the video conference system, communication is performed by transmitting video and audio acquired by a camera and a microphone installed in a conference hall.

  However, in a general video conference system, information on the physicality of the user A, such as where the user's (user A) is looking, is transmitted to the user (user B) in a remote place. However, there is a problem that information necessary for communication is missing. For example, the user A cannot point to a predetermined part of an object existing in a remote conference hall by the line-of-sight direction.

  Therefore, a method of performing communication using a robot having physicality has been proposed. For example, Patent Document 1 describes that a robot is placed in a conference hall where conference participants are present, and a user A who is in a remote place operates the robot to perform communication. The robot is provided with a microphone, a camera, and a speaker. User A who is at a remote location transmits his voice to the robot. The robot reproduces the voice of user A. Further, the terminal operated by the user A receives the voice and the image acquired by the microphone and the sensor provided in the robot via the transmission path. Then, the user A operates the movement of the robot while confirming the sound and the image on the terminal.

  In a system in which a person communicates with a person through a robot, as a method for the user A to operate the robot, Japanese Patent Application Laid-Open Publication No. 2004-228561 may perform input in four directions, up, down, left, and right for instructing the direction in which the robot faces. A method is disclosed in which possible buttons are prepared, and an operator uses the buttons to indicate the direction in which the robot faces while viewing an image acquired by the robot. In addition, there is a method in which, when the user A designates a location in an image acquired by a robot displayed on one display with a mouse or the like, the robot faces the designated location.

  Further, in Non-Patent Document 1, in order to reproduce the appearance in real space in front of the user, the image acquired by the robot is displayed on a multi-display (for example, three displays), and the operator (user A method of installing a motion sensor on the head of A) is described. In this method, when the user moves his / her head to see an object shown on the display, the movement of the operator at that time is detected and transmitted to the robot. By moving the head of the robot according to the movement, the movement of the operator is reproduced in the robot.

JP 2002-46088 A

Hideaki Kuzuoka, Remote Robot Communication, Journal of Human Interfaces Special Issue on Remote Collaboration, Vol. 11, No. 1, pp. 15-18, February 2009.

  In the method disclosed in Patent Document 1, the user A identifies a position he / she wants to see on the video, and performs a button operation or an operation such as a point on the video toward the position, thereby moving the robot there. Will be turned. At this time, if the field of view of the camera is narrow, the direction of the robot (head direction) is frequently moved in order to search for an object outside the field of view. As a result, the robot's line of sight changes frequently. Since robots are introduced for the purpose of transmitting body movements such as the movement and orientation of the head, changes in the robot's line of sight are not intended for any user's intention (e.g. Express intentions of interest or intentions to give the right to speak to a specific person). However, the complicated operation of the robot for searching for an object outside the field of view may be different from the intention that the user A wants to transmit.

  On the other hand, when the field of view of the camera is wide, the operator (user A) sees a wide range of images, so the operator does not move the camera for the purpose of acquiring the images. That is, the operator stops moving the robot's head. The physical action such as the rotation of the head shown before one user starts a certain operation allows the other user to expect the operation started by one user. Such anticipation helps to achieve smooth communication between users. However, when the field of view of the camera is wide, the opportunity for the other user (user B) to expect the operation of the operator (user A) decreases, and it becomes difficult to convey the operator's intention depending on the orientation of the head. End up.

  The operation trend of the operator (user A) will be described from the viewpoint of human visual characteristics. An image obtained by the human eye has a characteristic that the resolution of the central part of the visual field is high and the resolution of the peripheral part is low. Humans look at objects in detail in a high-resolution area in the center, and monitor other people's presence and movement over a wide angle in the peripheral vision. If the camera field of view is too limited, monitoring with the peripheral field of view becomes impossible, and the center movement is used to see the surroundings, so the head movement becomes unnatural. Also, in a state where the field of view is wide and the resolution is high, the action of turning the line of sight in order to look at what was seen at low resolution in peripheral vision is not performed, so the head movement is also not natural.

  In order to solve this problem, in the method disclosed in Non-Patent Document 1, a wide-angle camera is mounted on the robot, and three displays are installed in front of the operator. However, according to the method disclosed in Non-Patent Document 1, since the operator's head movement is transmitted to the robot as it is, a large-scale facility such as an immersive display is required, and a motion sensor is installed in the user. There is a problem of placing a burden on the user. That is, the robot cannot perform natural body movements without burdening the user with simple equipment.

  Accordingly, an object of the present invention is to provide a robot operating device that enables a robot to perform natural body movements without burdening a user with simple equipment in a system in which remote communication is performed. .

  A robot operating device according to the present invention is a robot operating device that remotely controls a robot having a part that expresses which direction the robot is facing, a video input unit that inputs an image of a space in which the robot exists, and The video processing unit that processes the video input by the video input unit so that the resolution decreases as the distance from the image portion corresponding to the orientation of the part is increased, and the video that displays the video processed by the video processing unit on the display It is characterized by comprising a display unit and a video position specifying unit for issuing a command to move the part so as to face the position specified by the user in the video displayed on the display.

  The robot system according to the present invention further includes an imaging unit that acquires an image of a space in which the robot exists, and a drive unit that drives the above part based on a command issued by the image position specifying unit. To do.

  The robot operation method according to the present invention is a robot operation method for remotely operating a robot having a part that expresses which direction the robot is facing, and inputs an image obtained by capturing an image of a space where the robot exists. Is processed so that the resolution decreases as it is farther from the image portion corresponding to the orientation of the above part, and the processed image is displayed on the display unit so that it faces the position specified by the user in the image displayed on the display unit A command for moving the above-mentioned part is issued to

  The robot operation program according to the present invention is a process for inputting an image of a space in which a robot exists to a computer mounted on a robot operation device that remotely controls a robot having a part that expresses which direction the robot is facing. Processing the input video so that the resolution decreases as the distance from the image portion corresponding to the orientation of the above part, processing for displaying the processed video on the display, and video displayed on the display And a process of issuing a command to move the part so as to face the position designated by the user.

  According to the present invention, by providing the operator with a motivation to operate a predetermined part such as the robot head while securing a wide field of view, the operator intends to transmit an object of interest in remote communication. Can communicate accurately.

1 is a block diagram illustrating a configuration example of a remote communication system including a first embodiment of a robot operating device according to the present invention. It is explanatory drawing for demonstrating a camera visual field. It is explanatory drawing which shows an example of the relationship between a camera optical axis and head orientation. It is explanatory drawing which shows an example of the process of an image | video. It is explanatory drawing which shows an example of the fall of the resolution. It is a block diagram which shows the principal part of the robot operation apparatus by this invention with a robot. FIG. 7 is a block diagram showing the main part of the robot system according to the present invention together with the robot. It is a flowchart which shows the main processes of the robot operation method by this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

Embodiment 1. FIG.
FIG. 1 is a block diagram showing a configuration example of a remote communication system including a first embodiment of a robot operating device according to the present invention.

  The remote communication system shown in FIG. 1 includes a robot 100 and an operation terminal 200 as a robot operation device. In addition, an imaging unit 111 that acquires a video around the robot 100 and a video transmission unit 112 that transmits video data acquired by the imaging unit 111 are provided. The robot 100 and the operation terminal 200 can communicate with each other via the transmission path 300. As an example, when the remote communication system is a video conference system, the operation terminal 200 is provided in one conference hall, and the robot 100, the imaging unit 111, and the video transmission unit 112 are installed in the other conference hall.

  Specifically, the imaging unit 111 includes a camera (including a CCD, a CMOS sensor, and a lens system). The video transmission unit 112 is a part that converts the video imaged by the imaging unit 111 into a signal for transmission, and has a function of encoding an image and a function of sending data to the transmission path 300.

  The robot 100 includes at least a head 101 and a head driving unit 103 that drives the head. The head 101 is provided with a camera 102 facing the line of sight. The head 101 serves to express which direction the robot 100 is facing.

  The video transmission unit 112 also transmits an image captured by the camera 102 provided on the head 101 of the robot 100.

  In the operation terminal 200, the video reception unit 201 receives the data encoded by the video transmission unit 112 and transmitted to the transmission path 300, and converts it into video. The video processing unit 202 displays the video configured by the video receiving unit 201, that is, the video captured by the imaging unit 111, far from the part of the video corresponding to the line-of-sight direction of the head 101 of the robot 100 in which the camera 102 is installed. It is processed so that the resolution decreases.

  The video display unit 203 performs control to display the video generated by the video processing unit 202 on a display (not shown). The video position designation unit 204 issues a command to move the head 101 of the robot 100 so as to face the position designated by the user.

  In operation terminal 200, processing for inputting video in video receiving unit 201, processing in video processing unit 202, processing in video display unit 203, and processing for issuing a command to move head 101 in video position designating unit 204 As an example, is realized by a CPU (Central Processing Unit) that executes processing according to a program.

  Next, processing executed in the remote communication system will be described.

  For example, it is assumed that the robot 100 and conference participants 401 to 404 (participants 1 to 4) exist as shown in FIG. It is assumed that an arrow attached to the robot 100 indicates the head orientation of the robot 100. In the example illustrated in FIG. 2, there are four persons in the camera field of view 500 of the imaging unit 111, but the robot 100 is headed toward the participant 2. In this case, the operation terminal 200 conveys the details of the state of the participant 2 (expression, gesture, complexion, etc.) to the operator with a high-resolution image, and the presence and movement of other participants with a low-resolution image. Tell the operator (user A).

  As shown in FIGS. 3A and 3B or FIGS. 3C and 3D, when the camera optical axis of the imaging unit 111 is coincident with the head orientation, the center of the image is the head. Become a department-oriented direction. 3A and 3C correspond to schematic cross-sectional views showing the head 101 of the robot 100, and FIGS. 3B and 3D are schematic views showing the head 101 of the robot 100. It corresponds to a perspective view.

  Further, in the operation terminal 200, the head-oriented direction of the robot 100 is determined by an image captured by the camera 102.

  When the camera optical axis of the imaging unit 111 does not coincide with the head orientation of the robot 100, the video processing unit 202 determines the relative position of the head 101 with respect to the position where the imaging unit 111 is installed. Based on this, it is calculated which position in the video acquired by the imaging unit 111 the head-oriented image (the direction in which the head is currently oriented) captured by the camera 102 is. Then, the calculated position is set as the position in the line-of-sight direction (head-oriented direction) of the head 101 of the robot 100 in the image acquired by the imaging unit 111.

  When the video processing unit 202 processes the video, for example, as shown in FIG. 4, the image portion in a predetermined range corresponding to the direction in which the robot 100 is currently oriented is set to the same resolution. The image is reduced in resolution with increasing distance from. As an example of a decrease in resolution, as illustrated in FIG. 5, the image is blurred (blurred image with a Gaussian filter or the like), gradually darkened, and gradually faded in color (for example, when the captured image is a color image, It is possible to use a method of gradually reducing the color component by performing processing such as converting the color to the YUV color space and reducing the UV component, etc.).

  The video display unit 203 displays the video generated by the video processing unit 202 on a display. Specifically, for example, an image is displayed on a monitor. A display form in which the video generated by the video processing unit 202 is displayed on a part of the screen of the personal computer may be used.

  The video position designation unit 204 has a function of specifying the position designated by the user A when the user A designates an arbitrary position of the displayed video. For example, the user A designates the position of the video displayed on the display device with a pointing device such as a mouse. That is, the mouse cursor is moved and clicked. In that case, the pointing device and the CPU mounted on the operation terminal 100 correspond to the video position designation unit 204. In addition, the user A may specify a position with a body (such as a finger) or a touch device with respect to an image displayed on the touch screen. In that case, a touch screen (for example, a touch panel) and a CPU mounted on the operation terminal 100 correspond to the video position designation unit 204.

  The video position specifying unit 204 transmits information indicating the specified position to the robot 100 via the transmission path 300. Note that the information indicating the specified position is information indicating a relative position based on the direction in which the robot 100 is currently oriented, for example.

  In the robot 100, the head driving unit 103 receives information indicating the position from the video position specifying unit 204, and drives the head 101 based on the received information. That is, the head 101 is driven so that the head 101 is directed to the orientation of the position on the image specified by the image position specifying unit 204. That is, the head 101 is driven so that an image in the designated direction is captured at the center of the image captured by the camera 111.

  Specifically, for each position in the video, in advance, the camera 102 must be moved in order to make the image in the direction indicated by that position appear in the center of the image, and the robot 100 Store in the built-in storage means. A method of determining how to drive the head 101 using the calculation result stored in the storage means can be used. Also, a method for calculating how to drive the head 101 by calculating an azimuth using an appropriate lens model from the optical parameters of the camera 102 (focal length, sensor size, angle of view, number of pixels, etc.). It may be used.

  As described above, the operator (user A) looks at a high-resolution portion while paying attention while monitoring only the presence or movement of an object existing in a portion corresponding to human peripheral vision at a low resolution. be able to. Therefore, it is possible to give the operator a motivation to perform a motion of shaking his / her head when he wants to see in detail the portion corresponding to the peripheral vision while securing a wide field of view. As a result, it is possible to accurately transmit the operator's intention in remote communication through the robot 100.

  Note that the head 101 expresses to the surrounding people which direction the robot 100 is facing. Therefore, the part representing the direction in which the robot 100 is facing may be a head imitating the head of a living thing, but if the movement of the eyeball is designed to be seen from the outside, the movement of the eyeball It may be expressed. Moreover, the thing different from the head of a living thing, the arrow, and the thing imitating a finger may be used.

  In the first embodiment, the camera 102 installed on the head 101 of the robot 100 and the imaging unit 111 that acquires an image around the robot 100 are separately provided. You may implement | achieve with imaging parts (henceforth an imaging means), such as one camera.

  When the camera 102 and the imaging unit 111 are realized by a single imaging unit, the imaging unit is mounted on the head 101 of the robot 100 as an example. In that case, for example, the camera optical axis of the imaging means and the head orientation are matched (see FIG. 3). In the first embodiment, the image captured by the camera 102 is replaced with the image captured by the imaging unit mounted on the head 101, and the video captured by the imaging unit 111 is captured by the imaging unit. By replacing it with the recorded video, the processing in the case where one imaging means is mounted on the head 101 can be described.

  Further, the installation position of one imaging unit is not limited to the head 101 of the robot 100, and may be another location. As an example, the imaging unit can be installed on the body of the robot 100. When the installation position of the image pickup means is not the head 101 of the robot 100, a situation may occur in which the camera optical axis of the image pickup means does not coincide with the head orientation of the robot 100. In that case, the image processing unit 202 has acquired an image in the direction in which the head is currently oriented based on the relative position of the head 101 with respect to the position where the imaging unit is installed. Calculate the position in the video. In other processes, in the first embodiment, the image captured by the camera 102 is replaced with the image captured by the image capturing unit, and the image captured by the image capturing unit 111 is replaced with the image captured by the image capturing unit. By re-reading, it is possible to explain the processing when only one imaging means is installed.

Embodiment 2. FIG.
Next, a second embodiment of the present invention will be described. The configuration of the remote communication system including the second embodiment of the robot operating device is the same as the configuration shown in FIG. However, the operation of the image processing unit 202 is different from that in the first embodiment.

  The second embodiment is characterized in that the resolution of the region once directed to the central visual field in the video processing unit 202 gradually decreases even after the visual field is removed.

Specifically, a set of image coordinates with a central visual field directed by an operator's instruction,
{(A (i), b (i))} (i = 1,..., N)
And (A (i), b (i)) are coordinates of an image whose central visual field is directed by an operation performed by the operator at time t (i).

  Assuming that the current time is T, for example, a spatial filter using Gaussian with a variance that monotonically increases with respect to T−t (i) as a kernel {(a (i), b (i))} ( By applying i = 1,..., N) to the respective regions, the resolution can be gradually lowered. It can also be realized by a method of applying another spatial filter, or a method of reducing the size of each block when performing mosaic processing as the time lapse is smaller.

  The effect of this embodiment will be described. When only the center of the video is a high-resolution area and there are a plurality of areas that the user A often sees in a plurality of areas away from the video, the head 101 can be observed with high frequency with respect to these areas. Think about the necessary scene. In such a case, since the operation of the robot 100 is troublesome, there is a high possibility that the content that the user A has once confirmed at a high resolution will be forgotten. As a result, there is a high possibility that the robot is operated at a higher frequency than the natural human head movement. In such a situation, there arises a problem that the movement of the head 101 of the robot 100 does not accurately reflect human intentions.

  However, as in this embodiment, by leaving the resolution of the region once directed to the field of view high for a predetermined period, the operator confirms the region to which the field of view was previously directed without pointing the head 101 of the robot 100. be able to. Furthermore, since the resolution is lowered after a predetermined period of time, if the user wants to check again, a motivation to turn the head 101 is generated, and by actually performing such an operation, the robot 100 can make a human head move. it can.

  Furthermore, the head driving unit 103 may automatically shift the direction of the head 101 after a predetermined time has elapsed after facing the direction that is an instruction from the operator. In that case, even after the head driving unit 103 automatically shifts the line-of-sight direction, the video processing unit 202 does not lower the resolution of the image in the direction instructed by the operator for a predetermined time. In this way, the operator is given a motivation to operate the head 101 of the robot 100 while ensuring a wide field of view, so that the intention that the operator wants to transmit the object of interest is accurately transmitted in the dialogue. Can do.

Embodiment 3. FIG.
Next, a third embodiment of the present invention will be described. The configuration of the remote communication system including the third embodiment of the robot operating device is the same as the configuration shown in FIG. However, the operation of the image processing unit 202 is different from that in the first embodiment.

  The third embodiment is characterized in that the image processing unit 202 detects a predetermined object and blurs the portion of the object in the image as the distance from the portion corresponding to the line-of-sight direction of the head 101 of the robot 100 increases. To do.

  The object detected by the image processing unit 202 is, for example, a human face or an object that has become a hot topic. When detecting a human face, as a method for identifying the position of the human face, a method of detecting the face by image recognition from the acquired video, a RFID (Radio Frequency IDentification) tag, an ultrasonic tag, etc. It is possible to use a method of detecting a signal from an apparatus for identifying the position. When detecting a topical object, a method for detecting the object by image recognition from the acquired image or a device for identifying a position such as an RFID tag or an ultrasonic tag for a human being is installed on the object. Can be used to detect the signal from. Furthermore, in order to identify the topic, it is possible to identify whether or not the object has been moved by detecting whether or not a person has moved the object using an image, or to speak a conversation between people. A method of recognizing and monitoring, and identifying an image corresponding to an object specified by recognized speech as an image of an object in question may be used.

  The effect of this embodiment will be described. In face-to-face conversation, human beings communicate their intentions to others according to their line of sight and direction of head. In particular, by looking at a person, looking away from the person, looking at an object that is being talked about in a conversation, or looking away from the object, information about the interest in the target and the change of speaking rights are transmitted. . The same effect can be expected by controlling the orientation of the head 101 in the dialogue through the robot 100. However, if the robot is often oriented to a part other than the person who is the conversation partner or the object that is the target of the conversation, the robot does not intend to send information such as interest or utterance rights to the target person. Unintentional intentions may be transmitted.

  As in this embodiment, by blurring only objects that are meaningful for dialogue, it is possible to give the operator a motivation to direct the head 101 of the robot 100 only to such objects. As a result, it is possible to express the head movement to such an object without error. In this way, the operator can be motivated to operate the head 101 of the robot 100 while ensuring a wide field of view, and the operator can accurately transmit the intention that the operator wants to transmit the object of interest. .

Embodiment 4 FIG.
Next, a fourth embodiment of the present invention will be described. The configuration of the remote communication system including the fourth embodiment of the robot operating device is the same as the configuration shown in FIG. However, the operation of the image processing unit 202 is different from that in the first embodiment.

  In the fourth embodiment, when an object or a person moves in an area where the image processing unit 202 blurs the image as in the first embodiment, an image in which the moved area is emphasized is generated. It is characterized by doing. That is, when the object or person moves, the image processing unit 202 detects the area where the object or person moves and performs highlighting.

  As a method for detecting a moving area, the image processing unit 202, for example, takes a difference of pixel values of each pixel between frames of an image captured every moment, and the difference is larger than a predetermined threshold value. There is a method of making an area a moving area. Further, as a highlighting method, for example, there is a method of displaying a region where movement is detected by changing the color or the luminance value.

  The effect of this embodiment will be described. As a human visual characteristic, there is a characteristic that the motion is sensitively detected although the resolution is low in the peripheral part of the visual field. When only the peripheral visual field portion is blurred as in the first to third embodiments, it may be difficult to transmit whether there is movement in the region.

  If there is further movement while blurring the peripheral visual field portion as in the present embodiment, the human visual characteristics can be reproduced by highlighting that portion. In other words, by emphasizing the movement, when there is movement in the area at the end of the angle of view, for example, when a person who has been up to that point tries to stand up or a person who has not been there approaches, the operator Can quickly detect the movement from a wide visual field range, and it is easy to motivate the head 101 of the robot 100 to point there.

  The first embodiment and one or more of the second to fourth embodiments can be arbitrarily combined.

  FIG. 6 is a block diagram showing the main part of the robot operating device according to the present invention together with the robot. As shown in FIG. 6, the robot operating device includes a video input unit 11 that inputs a video obtained by imaging a space in which the robot 20 exists, and a video 21 that is input by the video input unit 11. A video processing unit 12 that processes the image so that the resolution decreases as the distance from the image portion corresponding to the orientation of the image, a video display unit 13 that displays the video processed by the video processing unit 12 on the display 15, and a display on the display 15 A video position specifying unit 14 that issues a command to move the part 21 so as to face the position specified by the user in the displayed video.

  FIG. 7 is a block diagram showing the main part of the robot system according to the present invention together with the robot. As shown in FIG. 7, in addition to the configuration shown in FIG. 6, the robot system is based on an imaging unit 31 that acquires an image of a space in which the robot 20 exists, and a command issued by the video position specifying unit 14. And a drive unit 32 for driving the part 21.

  FIG. 8 is a flowchart showing the main steps of the robot operating method according to the present invention. As shown in FIG. 8, in the robot operation method, an image obtained by imaging the space in which the robot exists is input (step S11), and the input image is reduced in resolution as the distance from the image portion corresponding to the orientation of the part of the robot increases. Processing to lower (step S12), display the processed video on the display (step S13), and issue a command to move the robot part to face the position specified by the user in the video displayed on the display (Step S14).

  The present invention can be applied to a terminal where a user operates a robot in a system for performing remote communication through the robot.

(Supplementary note 1) A robot operation method further including a step of gradually lowering the resolution when an area to which the central visual field is once directed is subsequently removed when the visual field is removed.

(Additional remark 2) The robot operation method which further includes the step which detects a predetermined | prescribed object from the input image | video, and blurs the part of the detected object in a video | video so that it is far from the part corresponding to the orientation of the site | part of a robot.

(Additional remark 3) The robot operation method which further includes the step which detects a human face from the input image | video, and blurs only the part of the detected face in a video | video so that it is far from the image | video part corresponding to the orientation of the part of a robot.

(Appendix 4) Detecting an object that is a topic among people around the robot and blurring only the detected object part in the image as the distance from the image part corresponding to the orientation of the robot part increases. A robot operation method further comprising a step.

(Supplementary note 5) A robot operation method further comprising a step of generating an image in which an area where a moving object or person exists is emphasized when an object or person existing in a blurred area in the image moves.

(Additional remark 6) The robot operation program which makes a computer perform further the process which makes the resolution fall gradually when it removes a visual field after having targeted the area | region where the central visual field once turned.

(Additional remark 7) The robot operation program which detects a predetermined object from the input image | video, and makes a computer perform further the process which blurs the part of the detected object in a video | video so that it is far from the part corresponding to the orientation of the site | part of a robot.

(Supplementary note 8) Robot operation that detects a human face from the input video and causes the computer to further execute a process of blurring only the detected face portion in the video as the distance from the video portion corresponding to the orientation of the robot part increases program.

(Supplementary Note 9) Detects an object that is a topic among persons existing around the robot, and blurs only the detected object part in the image as the distance from the image part corresponding to the orientation of the robot part increases. A robot operation program that causes a computer to further execute processing.

(Additional remark 10) When the object or person which exists in the area | region where the blurring in the image | video was moved, the robot operation program which makes a computer perform further the process which produces | generates the image | video which emphasized the area | region where the moved object or person exists .

DESCRIPTION OF SYMBOLS 11 Image | video input part 12 Image | video process part 13 Image | video display part 14 Image | video position designation | designated part 15 Display 20 Robot 21 Region | part 31 Imaging part 32 Drive part 100 Robot 101 Head 102 Camera 103 Head drive part 111 Imaging part 112 Image | video transmission part 200 Operation terminal 201 Video reception unit 202 Video processing unit 203 Video display unit 204 Video position designation unit 300 Transmission path 401 to 404 Participant 500 Camera view

Claims (10)

A robot operating device that remotely controls a robot having a part that expresses which direction the robot is facing,
A video input unit that inputs a video of the space in which the robot exists;
A video processing unit that processes the video input by the video input unit so that the resolution decreases as the distance from the image portion corresponding to the orientation of the part increases;
A video display unit for displaying the video processed by the video processing unit on a display;
A robot operation device comprising: a video position specifying unit that issues a command to move the part so as to face a position specified by a user in the video displayed on the display. The robot operation device according to claim 1, wherein the image processing unit is configured to target the region where the central visual field is once directed and gradually decrease the resolution when the visual field is subsequently removed. The video processing unit detects a predetermined object from the video input by the video input unit, and performs a process of blurring a portion of the detected object in the video as the distance from the portion corresponding to the orientation of the part increases. Item 3. The robot operating device according to Item 2. The video processing unit detects a human face from the video input by the video input unit, and performs a process of blurring only the detected face part in the video as the distance from the video part corresponding to the orientation of the part increases. 3. The robot operating device according to 3. The image processing unit detects an object that has become a hot topic among persons existing around the robot, and blurs only the detected object part in the image as the distance from the image part corresponding to the orientation of the part increases. The robot operating device according to claim 3 or 4, wherein processing is performed. The image processing unit generates an image in which an area where a moving object or person exists is emphasized when an object or person existing in a blurred area in the image moves. The robot operating device according to any one of The robot operation apparatus according to claim 1, wherein the part is a head. The robot operating device according to any one of claims 1 to 6,
An imaging unit that acquires an image of a space in which the robot exists;
A robot system comprising: a drive unit that drives the part based on a command issued by the video position designation unit. A robot operation method for remotely operating a robot having a part expressing which direction the robot is facing,
Input an image of the space where the robot exists,
Process the input video so that the resolution decreases as the distance from the part of the image corresponding to the orientation of the part,
Display the processed image on the display,
A robot operation method characterized by issuing a command to move the part so as to face a position designated by a user in an image displayed on the display. In a computer mounted on a robot operating device that remotely controls a robot having a part that expresses which direction the robot is facing,
Processing to input a video image of the space where the robot exists,
Processing to process the input video so that the resolution decreases as the distance from the part of the image corresponding to the orientation of the part,
Processing to display the processed video on the display;
And a process of issuing a command to move the part so as to face a position designated by a user in the video displayed on the display.