JP6352217B2 - Communication system and control method thereof - Google Patents

Description

  The present invention relates to a communication system and a control method thereof.

  In recent years, a communication system has been studied that combines remote operation technology and robot technology so that a person can feel the presence (presence) of a person in a certain place from a distance and communicate with the other party (for example, non-existing). Patent Document 1).

  In the communication system as described above, a dialog device having a video display unit and a video shooting unit is provided on one side (operator) side and the other side (local talker) side of the dialog. Each interactive device causes the video image of the video device of its own device to be displayed on the video display unit of the other device. In addition, the dialog device on the local dialog side is provided with a moving mechanism, and the operator can communicate with whom, mainly by the operator, by moving the dialog device on the local dialog side by remote control. Or where to go. When the operator actively controls the dialog device on the local dialog side, communication can be achieved while making the other party of the dialog feel more of the presence of the operator.

Mixing metaphors in mobile remote presence, Takayama et al., CSCW2012

  In the communication system as described above, for example, if the distance between the dialog device on the local dialog side and the local dialog person (hereinafter referred to as the “face-to-face distance”) is too large, the display on the video display unit of the dialog device on the operator side The local conversation person becomes too small in the video, or the local conversation person becomes difficult to see the display image on the video display unit of the conversation apparatus on the local conversation person side. Therefore, it is important to keep the facing distance appropriately. Here, the face-to-face distance appropriate for the operator and the face-to-face distance appropriate for the local talker may differ, and it is difficult for both the operator and the local talker to communicate while viewing the video in a more appropriate situation. There are challenges.

  Further, in the communication system as described above, it is preferable that the local talker cannot touch the dialog device on the local talker side in order to ensure the control of the dialog device on the local talker side by the operator. However, Non-Patent Document 1 has a problem that this point is not taken into consideration.

  An object of the present invention is to solve the above-described problems, and to ensure control of the dialog device by the operator, while allowing both parties of the dialog to communicate while viewing the video in a more appropriate situation, and its control It is to provide a method.

  In order to solve the above-described problems, a communication system according to the present invention includes a first interactive device and a second interactive device each having a video display unit and a video photographing unit, and the first interactive device and the second interactive device. A communication system for displaying a captured image of a video photographing unit of each interactive device on a video display unit of the other interactive device, wherein the first interactive device further includes a moving mechanism, and the first interactive device side The face-to-face distance, which is the distance between the first interactive person and the first interactive apparatus, is equal to or greater than a predetermined distance, and the display on the video display unit of each of the first interactive apparatus and the second interactive apparatus Movement of the first interactive device by the moving mechanism, so that the video is a display suitable for each of the first interactive user and the second interactive device on the second interactive device side, A control means for controlling the display of one of the interactive device and the second respective interaction device of the video display unit.

  In order to solve the above-described problem, a control method according to the present invention includes a first interactive device having a video display unit, a video shooting unit, and a moving mechanism, a second display unit having a video display unit, and a video shooting unit. A communication system control method for displaying a video image captured by the video imaging unit of each of the first interactive device and the second interactive device on a video display unit of the other interactive device. The face-to-face distance, which is the distance between the first interactive person on the interactive apparatus side and the first interactive apparatus, is equal to or greater than a predetermined distance, and the images of the first interactive apparatus and the second interactive apparatus, respectively. The movement of the first interactive device by the moving mechanism so that the display video of the display unit is a display suitable for each of the first interactive person and the second interactive person on the second interactive device side. , The first dialogue device And a step of controlling the display of the second interactive device each of the video display unit.

  According to the communication system and the control method thereof according to the present invention, both parties of the conversation can communicate while watching the video in a more appropriate situation while ensuring the control of the dialogue apparatus by the operator.

It is a figure which shows the structure of the communication system which concerns on one Embodiment of this invention. It is an external appearance perspective view of the telepresence robot shown in FIG. It is a block diagram which shows the structure of the server shown in FIG. It is a figure for demonstrating operation | movement of the server shown in FIG. It is a flowchart which shows an example of operation | movement of the server shown in FIG. It is a flowchart which shows another example of operation | movement of the server shown in FIG. It is a flowchart which shows another example of operation | movement of the server shown in FIG.

  Embodiments of the present invention will be described below.

  FIG. 1 is a diagram showing a configuration of a communication system 1 according to an embodiment of the present invention. In the communication system 1 according to the present embodiment, interlocutors in remote places can perform a conversation while watching the other party's video, and an operator who is one of the interlocutors is the other of the interlocutors. This is a system that can control the dialogue device on the local dialogue side.

  The communication system 1 shown in FIG. 1 includes a remote operation terminal 10, a telepresence robot 20, and a server 30 that can communicate with the remote operation terminal 10 and the telepresence robot 20.

  The remote operation terminal 10 is an interactive device (second interactive device) provided on the operator (second interactive person) side. The remote operation terminal 10 includes a video display unit and a video shooting unit that can shoot the operator while the operator is viewing the display on the video display unit. The remote operation terminal 10 transmits the video data of the video captured by the video imaging unit to the server 30 and displays the video indicated by the video data transmitted from the server 30 on the video display unit. The remote operation terminal 10 receives an input for remotely operating the telepresence robot 20 and transmits it to the server 30. Specific examples of the remote operation terminal 10 include a tablet terminal having a camera function, a smartphone, and a personal computer.

  The telepresence robot 20 is a dialogue device (first dialogue device) provided on the local dialogue person (first dialogue person) side. The telepresence robot 20 includes a video display unit, a video shooting unit capable of shooting the local talker while the local talker is viewing the display on the video display unit, a moving mechanism for moving the telepresence robot 20, a telepresence robot 20 A distance measuring sensor that measures a face-to-face distance that is a distance between the presence robot 20 and a local talker is provided. The telepresence robot 20 transmits the video data of the video captured by the video imaging unit to the server 30 and displays the video indicated by the video data transmitted from the server 30 on the video display unit. When the telepresence robot 20 receives a signal for remotely operating the telepresence robot 20 from the server 30, the telepresence robot 20 operates according to the signal. In addition, the telepresence robot 20 measures the face-to-face distance by the distance measuring sensor and transmits the measurement result to the server 30.

  FIG. 2 is an external perspective view of the telepresence robot 20.

  As shown in FIG. 2, the telepresence robot 20 is a cart-type device in which a communication device 23 such as a smartphone or a tablet terminal having a video display unit 21 and a video shooting unit 22 has a communication function with the communication device 23. 24 is configured. The carriage type device 24 is provided with a distance measuring sensor 25, and the measurement result of the facing distance by the distance measuring sensor 25 is transmitted to the communication device 23. The communication device 23 transmits to the server 30 the video data of the video captured by the video imaging unit 22, the measurement result of the facing distance by the distance measuring sensor 25, and the like. In addition, when the communication device 23 receives the video data of the video captured by the remote operation terminal 10 from the server 30, the communication device 23 causes the video display unit 21 to display the video indicated by the video data.

  Referring to FIG. 1 again, the server 30 transmits the video data transmitted from each of the remote operation terminal 10 and the telepresence robot 20 to the other device. In addition, the server 30 has a face-to-face distance that is equal to or greater than a predetermined distance (a distance at which a local talker cannot touch the telepresence robot 20), and the display images of the video display units of the remote operation terminal 10 and the telepresence robot 20 respectively. The movement of the telepresence robot 20 by the moving mechanism and the display (for example, magnification) of the video display unit of each of the remote operation terminal 10 and the telepresence robot 20 so that the display is suitable for the operator and the local talker. A signal to be controlled is transmitted to the device to be controlled.

  FIG. 3 is a block diagram illustrating a main configuration of the server 30.

  The server 30 shown in FIG.

  When receiving the video data (video data indicating the video on the operator side) from the remote operation terminal 10, the control means 31 transmits the video data to the telepresence robot 20. Further, when receiving the video data (video data indicating the video of the local talker side) from the telepresence robot 20, the control unit 31 transmits the video data to the remote operation terminal 10.

  Further, the control means 31 drives the moving mechanism of the telepresence robot 20 based on the key input to the remote operation terminal 10 received from the remote operation terminal 10 or the measurement result of the facing distance received from the telepresence robot 20. A movement instruction signal to be controlled and a signal for controlling display on the video display unit of each of the remote operation terminal 10 and the telepresence robot 20 are transmitted to the device to be controlled.

  Next, the operation of the server 30 will be described.

  FIG. 4 is a diagram conceptually illustrating the operation of the server 30. In FIG. 4, the horizontal axis indicates the distance between the telepresence robot 20 and the local talker.

  As described above, the face-to-face distance suitable for the operator may be different from the face-to-face distance suitable for the local talker. In the following, the face-to-face distance suitable for the operator is referred to as the operator appropriate distance, and the face-to-face distance suitable for the local talker is referred to as the local talker appropriate distance. Further, the distance that the local talker cannot directly touch the telepresence robot 20 is referred to as a control distance. The control distance is a facing distance that should be secured by moving the telepresence robot 20. The control distance may be a constant value or may be a value calculated from the height of the local talker.

  In FIG. 4, it is assumed that the local conversation person appropriate distance <control distance <operator appropriate distance, and the current facing distance is between the local conversation person appropriate distance and the control distance. In addition, the magnitude | sizes of local dialogue person suitable distance, control distance, and operator suitable distance are not restricted in this order.

  In this case, since the current facing distance is smaller than the control distance, the server 30 moves the telepresence robot 20 in a direction away from the local talker. By doing so, it is possible to maintain a distance between the telepresence robot 20 and the local talker so that the local talker cannot directly touch the telepresence robot 20. However, if the telepresence robot 20 is moved away from the local talker, the face-to-face distance is away from the appropriate distance of the local talker, and the display on the video display unit of the telepresence robot 20 is small and difficult for the local talker. is there. Therefore, the server 30 enlarges the display on the video display unit of the telepresence robot 20. In this way, even if the telepresence robot 20 moves away from the local talker, the display on the video display unit of the telepresence robot 20 is enlarged, so that the face-to-face distance can be made closer to the appropriate distance for the local talker. , The local interlocutor can see the video in a more appropriate situation.

  In the example shown in FIG. 4, even if the telepresence robot 20 is moved so that the facing distance becomes the control distance, the facing distance does not reach the operator appropriate distance. Therefore, it is conceivable for the operator that the local conversation person is displayed only in a small size in the display image of the image display unit of the remote operation terminal 10 and is difficult to see. Therefore, the server 30 may further enlarge the display on the video display unit of the remote operation terminal 10. By doing so, the display on the video display unit of the remote operation terminal 10 is enlarged, so that the facing distance can be made closer to the operator appropriate distance, and the operator can view the video in a more appropriate situation. .

  Note that the server 30 estimates an appropriate distance for the local talker based on the action of the local talker (such as movement of the position by walking the local talker). Specifically, when the server 30 determines from the measurement result of the distance measuring sensor 25 that the local talker is approaching the telepresence robot 20 even if the telepresence robot 20 is moved away from the local talker, It is determined that the local talker wants to reduce the facing distance, and a value shorter than the current local talker appropriate distance is set as the local talker appropriate distance.

  In this way, by estimating the appropriate distance for the local talker based on whether or not the local talker is approaching the telepresence robot 20, the local talker has a small display on the video display unit of the telepresence robot 20 and is difficult to see. In this case, by approaching toward the telepresence robot 20, an appropriate distance for the local talker according to the intention of the local talker is set. Therefore, it is possible to set an appropriate distance for an intuitive local talker.

  Further, the server 30 estimates the operator appropriate distance based on the operator's action (for example, key input to the remote operation terminal 10, change in the attitude of the operator, etc.). Specifically, the server 30 detects a change in the posture of the operator (whether it has been turned forward or pulled backward) based on a change in the size of the operator's face in the captured image of the video photographing unit of the remote operation terminal 10. To do. When the server 30 determines that the operator has turned forward, the server 30 determines that the operator wants to reduce the facing distance, and sets a value shorter than the current operator appropriate distance as the operator appropriate distance. On the other hand, if it is determined that the operator has pulled backward, the server 30 determines that the operator wants to increase the facing distance, and sets a value longer than the current operator appropriate distance as the operator appropriate distance.

  Further, the server 30 may determine the operator appropriate distance based on the key input to the remote operation terminal 10 by the operator. Specifically, when the operator presses a predetermined key, for example, the “+” key, the server 30 determines that the operator wants to reduce the facing distance, and the server 30 determines that the current distance from the operator is appropriate. Set a short value as the appropriate distance for the operator. On the other hand, when the operator presses a predetermined key, for example, the “−” key, the server 30 determines that the operator wants to increase the facing distance, and sets a value longer than the current operator appropriate distance. Set the appropriate distance for the operator.

  Next, details of the operation of the server 30 (control means 31) will be described.

  FIG. 5 is a flowchart illustrating an example of the operation of the server 30.

  First, the server 30 determines whether or not the measurement value (sensor value) of the distance measuring sensor 25 of the telepresence robot 20 is stable (step S101).

  When it is determined that the sensor value of the distance measuring sensor 25 is not stable (step S101: No), the server 30 repeats the process of step S101.

  When it is determined that the sensor value of the distance measuring sensor 25 is stable (step S101: Yes), the server 30 determines whether or not the current facing distance measured by the distance measuring sensor 25 is larger than the control distance. Determination is made (step S102).

  If it is determined that the current facing distance is not greater than the control distance (step S102: No), the server 30 transmits a movement instruction signal indicating that the telepresence robot 20 is moved so that the facing distance is increased. The data is transmitted to the robot 20, and the telepresence robot 20 is separated from the local talker. In addition, by separating the telepresence robot 20 from the local talker, the display on the video display unit of the telepresence robot 20 becomes small and difficult to see for the local talker, so the server 30 enlarges the display video on the video display unit. (Step S103). The movement amount of the telepresence robot 20 and the enlargement amount of the display image on the image display unit are preset values.

  Next, the server 30 determines whether the facing distance has increased (step S104).

  If it is determined that the facing distance has increased (step S104: Yes), that is, if the local talker is not moving toward the telepresence robot 20, the local talker is difficult to see the display on the video display unit. It is thought that he stayed there because there was no such thing. Therefore, the server 30 finishes the adjustment operation and returns to the process of step S102.

  When it is determined that the facing distance is not extended (step S104: No), that is, when the local talker is moving toward the telepresence robot 20, the local talker displays on the video display unit. Is difficult to see, and is considered moving toward the telepresence robot 20. Therefore, the server 30 determines whether or not the video size of the video displayed on the video display unit of the telepresence robot 20 can be adjusted (video enlargement) (step S105).

  When it is determined that the video size of the video displayed on the video display unit of the telepresence robot 20 can be adjusted (step S105: Yes), the server 30 determines the position of the telepresence robot 20 and the video display unit in step S103. It is determined whether or not the adjustment of the video size of the displayed video has been tried a predetermined number of times (step S106).

  If it is determined that the adjustment in step S103 has not been attempted a predetermined number of times (step S106: No), the server 30 returns to the process of step S103.

  When it is determined that the video size of the video displayed on the video display unit of the telepresence robot 20 cannot be adjusted (step S105: No), and when it is determined that the adjustment in step S103 has been attempted a predetermined number of times (step S105). S106: Yes), the server 30 proceeds to the process of step S107 described later.

  When it is determined that the current facing distance is greater than the control distance (step S102: Yes), the server 30 determines whether or not an input to further increase the facing distance is input from the operator (step S107). In addition, as described above, the input to further increase the facing distance includes pressing the “−” key of the remote operation terminal 10 or changing the posture of the operator to be pulled backward.

  If it is determined that the fact that the facing distance is further separated is input (step S107: Yes), the server 30 determines whether or not the video size of the display video on the video display unit of the telepresence robot 20 can be adjusted. Determination is made (step S108).

  If it is determined that the video size of the video displayed on the video display unit of the telepresence robot 20 can be adjusted (step S108: Yes), the server 30 moves the telepresence robot 20 so that the facing distance is increased. A movement instruction signal indicating that the telepresence is to be transmitted is transmitted to the telepresence robot 20, and the telepresence robot 20 is separated from the local talker. Further, the server 30 changes (for example, enlarges) the video size of the display video on the video display unit of the telepresence robot 20 (step S109).

  When it is determined that the fact that the facing distance is further separated is not input (step S107: No), the server 30 determines whether or not the input indicating that the facing distance is close is input (step S110). Note that, as described above, the input to make the facing distance closer includes pressing of the “+” key of the remote operation terminal 10 or changing the posture of the operator forward.

  If it is determined that the fact that the facing distance is to be reduced is not input (step S110: No), the server 30 returns to the process of step S101.

  When it is determined that the image size of the display image on the image display unit of the telepresence robot 20 cannot be adjusted (step S108: No), and when it is determined that the facing distance is reduced (step S110: Yes), the server 30 determines whether or not the video size of the display video on the video display unit of the remote operation terminal 10 can be adjusted (step S111).

  When it is determined that the video size of the display video on the video display unit of the remote operation terminal 10 cannot be adjusted (step S111: No), the server 30 returns to the process of step S101.

  When it is determined that the video size of the display video on the video display unit of the remote operation terminal 10 can be adjusted (step S111: Yes), the server 30 displays the video of the display video on the video display unit of the remote operation terminal 10. The size is changed (enlarged) (step S112). In addition, when it is input that the facing distance is reduced, it is considered that the operator is requesting enlargement of the image of the local talker. In this case, the telepresence robot 20 may be brought closer to the local talker to enlarge the video of the local talker. However, when the telepresence robot 20 is brought close to the local talker, the facing distance may be less than the control distance. Therefore, the server 30 enlarges the display image of the image display unit of the remote operation terminal 10 so that the apparent facing distance is brought close to the operator optimum distance so that the operator can view the image in a more appropriate situation. To do.

  In FIG. 5, the server 30 adjusts the face-to-face distance and the display on the video display unit of each of the remote operation terminal 10 and the telepresence robot 20 in consideration of the control distance, the local conversation person appropriate distance, and the operator appropriate distance. Although described using an example, the present invention is not limited to this.

  FIG. 6 is a flowchart illustrating an operation in the case where the server 30 adjusts the facing distance and the display on the video display unit of the telepresence robot 20 in consideration of the control distance and the local conversation person appropriate distance. In FIG. 6, the same processes as those in FIG.

  If the current facing distance is not greater than the control distance (step S102: No) and it is determined that the facing distance has not increased even if the telepresence robot 20 is moved (step S104: No), the server 30 performs step It is determined whether or not the adjustment in S103 has been tried a predetermined number of times (step S201).

  If it is determined that the adjustment in step S103 has not been tried a predetermined number of times (step S201: No), the server 30 returns to the process of step S103.

  On the other hand, when it is determined that the current facing distance is greater than the control distance (step S102: Yes), and when it is determined that the adjustment in step S103 has been attempted a predetermined number of times (step S201: Yes), the server 30 The process returns to step S101.

  5 and 6, the server 30 has been described with respect to the operation when adjusting the facing distance and the display in consideration of the control distance, but the present invention is not limited to this. When it is not always necessary to make the facing distance larger than the control distance, the facing distance and the display may be adjusted in consideration of only the operator appropriate distance and the local dialogue person appropriate distance without considering the control distance. FIG. 7 is a flowchart showing the operation of the server 30 when the control distance is not considered.

  First, the server 30 determines whether or not there is an operator input for increasing the facing distance or reducing the facing distance (step S301). In addition, as described above, the input to further increase the facing distance includes pressing the “−” key of the remote operation terminal 10 or changing the posture of the operator to be pulled backward. In addition, as described above, the input to make the facing distance closer includes pressing of the “+” key of the remote operation terminal 10 or changing the posture of the operator forward.

  When there is no operator input (step S301: No), the server 30 repeats the process of step S301.

  If there is an operator input (step S301: Yes), the server 30 determines whether or not the video size of the display video on the video display unit of the telepresence robot 20 can be adjusted (step S302).

  If it is determined that the video size of the video displayed on the video display unit of the telepresence robot 20 can be adjusted (step S302: Yes), has the server 30 tried the adjustment in step S304 described later a predetermined number of times? It is determined whether or not (step S303).

  If it is determined that the adjustment in step S304 has not been attempted a predetermined number of times (step S303: No), the server 30 receives the telepresence robot 20 when it is input that the facing distance is separated (the facing distance is reduced). The distance from the local talker is increased (shrinked), and the video display on the video display unit of the telepresence robot 20 is enlarged (reduced) (step S304).

  Next, the server 30 determines whether or not the facing distance has been extended (whether or not it has been shortened) when it is input that the facing distance is to be separated (the facing distance is to be shortened) (step S305).

  When it is determined that the facing distance is not extended (not contracted) (step S305: No), the server 30 returns to the process of step S302.

  When it is determined that the video size of the display video on the video display unit of the telepresence robot 20 cannot be adjusted (step S302: No), and when it is determined that the adjustment in step S304 has been attempted a predetermined number of times (step S302). (S303: Yes), the server 30 determines whether or not the video size of the video displayed on the video display unit of the remote operation terminal 10 can be adjusted (step S306).

  When it is determined that the video size of the display video on the video display unit of the remote operation terminal 10 cannot be adjusted (step S306: No), the server 30 returns to the process of step S301.

  When it is determined that the video size of the display video on the video display unit of the remote operation terminal 10 can be adjusted (step S306: Yes), the server 30 displays the video of the display video on the video display unit of the remote control terminal 10 The size is changed (enlarged or reduced) (step S307), and the process returns to step S301.

  In FIG. 7, the description has been given using an example in which the video size of the display video of the video display unit of the remote operation terminal 10 is adjusted after the video size of the video display unit of the telepresence robot 20 is adjusted. However, it is not limited to this. After adjusting the video size of the display video of the video display unit of the remote operation terminal 10, the video size of the display video of the video display unit of the telepresence robot 20 may be adjusted.

  In the present embodiment, the server 30 has been described using an example including the control unit 31. However, the present invention is not limited to this, and the remote operation terminal 10 or the telepresence robot 20 may include the control unit 31. Good.

  As described above, the communication system 1 according to the present embodiment includes the remote operation terminal 10 (second interactive terminal) having the video display unit and the video shooting unit, the video display unit, the video shooting unit, and the moving mechanism. A telepresence robot 20 (first interactive terminal) is provided, and the video image captured by the video imaging unit of each interactive device is displayed on the video display unit of the other interactive device. Furthermore, in the communication system 1, the facing distance, which is the distance between the telepresence robot 20 and the local conversation person, is equal to or greater than a predetermined distance, and the display images on the video display units of the respective conversation devices are displayed on the local conversation person and the operator respectively. Control means 31 for controlling the movement of the telepresence robot 20 by the moving mechanism and the display of the video display units of the remote operation terminal 10 and the telepresence robot 20 so that the display is suitable for the user.

  For this reason, an interval equal to or greater than a predetermined distance (a distance at which the local talker cannot directly touch the telepresence robot 20) can be secured between the telepresence robot 20 and the local talker. Control of the telepresence robot 20) can be ensured. Moreover, since the display by the video display unit of each of the remote operation terminal 10 and the telepresence robot 20 is a display suitable for each local talker and operator, both parties of the conversation can communicate while watching the video in a more appropriate situation. Can be achieved.

  Although the present invention has been described based on the drawings and embodiments, it should be noted that those skilled in the art can easily make various variations or modifications based on the present disclosure. Therefore, it should be noted that these variations or modifications are included in the scope of the present invention. For example, functions included in each block or step can be rearranged so as not to be logically contradictory, and a plurality of blocks or steps can be combined into one or divided.

DESCRIPTION OF SYMBOLS 1 Communication system 10 Remote operation terminal 20 Telepresence robot 21 Image | video display part 22 Image | video imaging | photography part 23 Communication apparatus 24 Cargo type | mold apparatus 25 Distance sensor 30 Server 31 Control means

Claims (3)

A first interactive device and a second interactive device each having a video display unit and a video photographing unit, and the other interactive device displays a video image taken by the respective video photographing units of the first interactive device and the second interactive device. A communication system to be displayed on the video display section of
The first interactive apparatus further includes a moving mechanism,
The facing distance, which is the distance between the first interactive person on the first interactive apparatus side and the first interactive apparatus, is equal to or greater than a predetermined distance, and the first interactive apparatus and the second interactive apparatus The first interactive device by the moving mechanism so that the display video of each video display unit is a display suitable for the first interactive person and the second interactive person on the second interactive device side. And a control means for controlling the movement of the first display device and the display of the video display section of each of the first dialog device and the second dialog device. The communication system according to claim 1,
If the facing distance is not reduced after moving the first interactive device, the control means is suitable for the first interactive person to display the video display unit of the first interactive device. A communication system characterized by judging. A first interactive device having a video display unit, a video photographing unit, and a moving mechanism, and a second interactive device having a video display unit and a video photographing unit, the first interactive device and the second interactive device A communication system control method for displaying a video image of a video image capturing unit of each device on a video display unit of the other interactive device,
The facing distance, which is the distance between the first interactive person on the first interactive apparatus side and the first interactive apparatus, is equal to or greater than a predetermined distance, and the first interactive apparatus and the second interactive apparatus The first interactive device by the moving mechanism so that the display video of each video display unit is a display suitable for the first interactive person and the second interactive person on the second interactive device side. And a control method including a step of controlling the movement of the first interactive device and the display of the video display unit of each of the first interactive device and the second interactive device.

Images