KR102261848B1 - Time-synchronized remote system and the operation method thereof - Google Patents

Abstract

In a remote system comprising a control system and a remote operation system, each of the control system and remote operation system comprises a recording device, wherein the recording device comprises a GPS signal receiving part that receives first time information from a global positioning system (GPS) radio frequency (RF) signal and a time information management part that generates second time information having a unit of 10^-3 seconds or less based on a receiving time of the first time information and a first internal clock, generates third time information having a unit of 10^-6 seconds or less based on a receiving time of the second time information and a second internal clock, and the third time information may be recorded in a time stamp of the data.

Description

Time-synchronized remote system and the operation method thereof

The present disclosure relates to a time synchronized remote system and method of operation.

Recently, due to advances in artificial intelligence technology, unmanned surveillance technology, and autonomous technology, the development of unmanned remote systems is being actively studied.

In order to analyze the performance in terms of operation and control of the remote system, it is important to record the data of the remote system in real time and to analyze the recorded data. In addition, in order to analyze the performance between the control system and the remote system in the remote system, time synchronization between the recorded data of each system is essential.

Since the prior art is limited to the level of synchronizing the time of the master device and the slave device connected by wire, there is a limit in analyzing the performance by synchronizing the time information of the wirelessly remotely operated system.

Various embodiments are directed to providing a time synchronized remote system and method of operation. The technical problems to be achieved by the present disclosure are not limited to the technical problems as described above, and other technical problems may be inferred from the following embodiments.

According to an aspect of the present disclosure, in a remote system including a control system and a remote operation system, each of the control system and the remote operation system includes a recording device, and the recording device includes: Global Positioning System (GPS) Radio Frequency (RF) ) a GPS signal receiving unit for receiving the first time information from the signal; a time information management unit for generating second time information having a unit of ^{10 -3} seconds or less based on a reception time of the first time information and a first internal clock; ^{and generating third time information having a unit of 10 −6} seconds or less based on a reception time of the second time information and a second internal clock, and time stamping the third time information as a time stamp of data ) data storage unit to record in; may include.

In addition, each of the control system and the remote operation system may be time-synchronized so that the third time information recorded in the time stamp of the data has ^{an error of 10 -3 seconds or less.}

In addition, the recording device may apply a shielding function to a CPU (Central Processing Unit) of a component that transmits and receives the data in each of the control system and the remote operation system.

In addition, each of the control system and the remote operation system operates a redundant network including a data network and a recording network, and the data network is one of control information, image information, and status information necessary for the operation of the control system and the remote operation system. It may correspond to a network for transmitting and receiving at least one, and the recording network may correspond to a network for storing transmission and reception data of the control system and the remote operation system.

In addition, the second time information,

로 정의될 수 있다.

can be defined as

In addition, the third time information,

로 정의될 수 있다.

can be defined as

According to another aspect of the present disclosure, a time synchronization method of a remote system includes: receiving first time information from a Global Positioning System (GPS) Radio Frequency (RF) signal; generating second time information having a unit of ^{10 -3} seconds or less based on the reception time of the first time information and a first internal clock; ^{and generating third time information having a unit of 10 −6} seconds or less based on a reception time of the second time information and a second internal clock, and time stamping the third time information as a time stamp of data ) to record in; may include.

According to another aspect of the present disclosure, in a computer-readable recording medium in which a program for implementing a time synchronization method of a remote system is recorded, the method is performed from a GPS (Global Positioning System) RF (Radio Frequency) signal. receiving first time information; generating second time information having a unit of ^{10 -3} seconds or less based on the reception time of the first time information and a first internal clock; ^{and generating third time information having a unit of 10 −6} seconds or less based on a reception time of the second time information and a second internal clock, and time stamping the third time information as a time stamp of data ) to record in; may include.

According to another aspect of the present disclosure, in combination with hardware, a computer program stored in a medium for executing a time synchronization method of a remote system, the method comprising: receiving data from a GPS (Global Positioning System) RF (Radio Frequency) signal receiving 1 hour information; generating second time information having a unit of ^{10 -3} seconds or less based on the reception time of the first time information and a first internal clock; ^{and generating third time information having a unit of 10 −6} seconds or less based on a reception time of the second time information and a second internal clock, and time stamping the third time information as a time stamp of data ) to record in; may include.

1 is a block diagram illustrating an example of a configuration of a remote system.
2 is a diagram illustrating an example of storing data transmitted and received by a control system and a remote system.
3 is a diagram illustrating an example of synchronizing time between recording devices of a control system and a remote operation system, respectively.
4 is a diagram illustrating an example of extracting time information from a GPS signal.
5 is a diagram illustrating an example of analyzing an image transmission delay time using a recording device.
6 is a diagram illustrating an example of RTP Header information.
7 is a flowchart illustrating an example of a time synchronization method of a remote system.

Hereinafter, exemplary embodiments will be described in detail with reference to the accompanying drawings. It goes without saying that the following description is only for specifying the embodiments and does not limit or limit the scope of the invention. What can be easily inferred by an expert in the art from the detailed description and examples is construed as belonging to the scope of the right.

As used herein, terms such as 'consisting of' or 'comprising' should not be construed as necessarily including all of the various components or various steps described in the specification, and some components or some steps thereof. It should be construed that they may not be included, or may further include additional components or steps.

In addition, terms including ordinal numbers such as 'first' or 'second' used in this specification may be used to describe various components, but the components should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

The terms used in the present specification have been selected as currently widely used general terms as possible while considering the functions in the present invention, which may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, and the like. In addition, in a specific case, there is a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the corresponding invention. Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, rather than the name of a simple term.

The present embodiments relate to a time-synchronized remote system and an operation method, and detailed descriptions of matters widely known to those of ordinary skill in the art to which the following embodiments belong will be omitted.

1 is a block diagram illustrating an example of a configuration of a remote system.

Due to advances in artificial intelligence technology, unmanned surveillance technology, and autonomous technology, the development of unmanned remote systems is being actively studied. In order to analyze the performance in terms of operation and control of the remote system, it is important to record the data of the remote system in real time and to analyze the recorded data.

Referring to FIG. 1 , the remote system 100 includes a control system 110 and a remote operation system 120 . In the remote system 100 shown in FIG. 1, only the components related to the present embodiments are shown. Accordingly, it is apparent to those skilled in the art that the remote system 100 may further include other general-purpose components in addition to the components shown in FIG. 1 .

The control system 110 may correspond to a system for controlling a remote operation system from a remote location. In addition, the remote operation system 120 may correspond to a system in which a mission performance function such as monitoring and autonomous driving is implemented, which is remotely operated by receiving a command from the control system 110 .

For performance analysis between the control system 110 and the remote system 120 included in the remote system 100, time synchronization between data recorded in each system is required.

For time synchronization between spatially separated control system 110 and remote system 120 , each of control system 110 and remote system 120 may include a recording device 130 . The recording device 130 included in the control system 110 and the remote system 120 may have the same hardware and software.

The recording device 130 may record data transmitted and received in real time from the control system 110 and the remote system 120 to record information of the remote system 100 . The recording device 130 may store all records of data transmitted and received by the components connected to the data networks of the control system 110 and the remote system 120, respectively, which will be described below with reference to FIG. 2 .

2 is a diagram illustrating an example of storing data transmitted and received by a control system and a remote system.

Referring to FIG. 2 , each of the control system 110 and the remote operation system 120 may operate a redundant network including a data network 140 and a recording network 150 .

The data network 140 may correspond to a network for transmitting and receiving at least one of control information, image information, and state information required for the operation of the control system 110 and the remote operation system 120 . In addition, the recording network 150 may correspond to a network for storing transmission and reception data of the control system 110 and the remote operation system 120 .

The control system 110 and the remote operation system 120 can protect network information and minimize traffic by operating the redundant network as described above.

In the control system 110 and the remote operation system 120 , data transmitted and received by components connected through the data networks of each system may be stored in the recording device 130 through a separate recording network 150 . Through this, the control system 110 and the remote operation system 120 may transmit and store all data transmitted and received inside or outside the system to the recording device 130 .

In this case, the recording device 130 may receive time information from a Global Positioning System (GPS) and utilize it as a time stamp when storing data to enable time analysis of recorded data. Meanwhile, the control system and the remote operation system must be time synchronized so that the time analysis of the recorded data can be accurately performed, which will be described later with reference to FIG. 3 .

3 is a diagram illustrating an example of synchronizing time between recording devices of a control system and a remote operation system, respectively.

Referring to FIG. 3 , each of the control system 110 and the remote operation system 120 may include a recording device 130 . Also, the recording apparatus 130 may include a GPS signal receiver 131 , a time information manager 132 , and a data storage unit 133 . In the recording apparatus 130 shown in Fig. 3, only the components related to the present embodiments are shown. Accordingly, it is apparent to those skilled in the art that the recording apparatus 130 may include other general-purpose components other than the components shown in FIG. 3 .

The GPS signal receiver 131 may receive the first time information from a GPS radio frequency (RF) signal. The GPS RF signal contains precise time data using an atomic clock mounted inside the satellite. For example, the first time information may be TOD (Time of Day) information, and the TOD information may correspond to time information in units of seconds. Meanwhile, time information in seconds may not satisfy precision to be used as a time stamp for data recording. Accordingly, the time information management unit 132 may generate more detailed time information based on the first time information.

The time information manager 132 may generate second time information having a unit of ^{10 −3} seconds or less based on the reception time of one time information and a first internal clock. Also, the time information management unit 132 may transmit the generated second time information to the data storage unit 133 .

^{The data storage unit 133 generates third time information having a unit of 10 −6} seconds or less based on the reception time of the second time information and the second internal clock, the first time information, the second time Information and third time information may be recorded in the timestamp of the data. In this way, after receiving the GPS signal to the recording device 130 of the same hardware for time synchronization between the control system 110 and the remote operation system 120, the same time information management unit 131 and the data storage unit 132 can be applied. Through this, the third time information recorded in the time stamp of the data may be time-synchronized to have an error ^{of 10 -3 seconds or less.} When considering the period of remote operation data, ^{if there is an error of 10 -3} seconds or less, accurate time sequence analysis may be possible.

By using the above-described recording device 130, it is possible to analyze error or omission of message transmission/reception, transmission delay characteristics, operation or operation characteristics of the system, and total delay time from the source to the destination of the message via the wireless network.

Meanwhile, the recording device 130 may apply a shielding function to a CPU (Central Processing Unit) of a component that transmits and receives data in each of the control system 110 and the remote operation system 120 . Accordingly, it is possible to increase the accuracy of time analysis by limiting the time consumed for GLAN data transmission/reception to within several tens of μs.

4 is a diagram illustrating an example of extracting time information from a GPS signal.

Referring to FIG. 4 , GPS time information may have a unit of seconds, but is not limited thereto. The GPS signal receiver may receive the first time information using GPS time information corresponding to TOD information and a 1PPS (pulse per second) pulse signal.

는 하기 수학식 1에 의해서 생성될 수 있다. The second time information generated by the time information management unit 131

can be generated by Equation 1 below.

는 제 1 시간 정보에 해당하고,

은 시간 정보 관리부(131)의 제 1 내부 클럭의 틱 카운트(tick count)에 해당하고,

는 제 1 내부 클럭의 틱(tick) 주기에 해당할 수 있다. In Equation 1 above

corresponds to the first time information,

corresponds to the tick count of the first internal clock of the time information management unit 131,

may correspond to a tick period of the first internal clock.

은 하기 수학식 2에 의해서 생성될 수 있다.In addition, the third time information generated by the data storage unit 132

can be generated by Equation 2 below.

는 제 1 시간 정보에 해당하고,

은 시간 정보 관리부(131)의 제 1 내부 클럭의 틱 카운트(tick count)에 해당하고,

는 제 1 내부 클럭의 틱(tick) 주기에 해당하고,

는 데이터 저장부(132)의 제 2 내부 클럭의 틱 카운트(tick count)에 해당하고,

는 제 2 내부 클럭의 틱(tick) 주기에 해당할 수 있다. In Equation 2 above

corresponds to the first time information,

corresponds to the tick count of the first internal clock of the time information management unit 131,

corresponds to the tick period of the first internal clock,

corresponds to the tick count of the second internal clock of the data storage unit 132,

may correspond to a tick period of the second internal clock.

Finally, the data storage unit 132 of the recording device 130 may record the third time information in the time stamp of the data.

5 is a diagram illustrating an example of analyzing an image transmission delay time using a recording device.

Referring to FIG. 5 , a delay time between a control system for wirelessly transmitting an image and a remote operation system can be accurately analyzed using the present invention. For example, the remote operating system may store a sequence number among RTP header information of each compressed image in a recording device and perform wireless transmission. 6 is a diagram illustrating an example of RTP Header information.

In addition, the control system may receive the compressed image, extract the sequence number when decoding the compressed image, and store it in the recording device. Through this, it is possible to accurately analyze the video wireless transmission delay time from video compression to the wireless transmission section and decoding.

7 is a flowchart illustrating an example of a time synchronization method of a remote system.

In operation 710 , the remote system 100 may receive first time information from a Global Positioning System (GPS) radio frequency (RF) signal.

In operation 720 , the remote system 100 may generate second time information having a unit of ^{10 −3} seconds or less based on the reception time of the first time information and a first internal clock.

In step 730, the remote system 100 generates third time information having a unit of ^{10 −6} seconds or less based on the reception time of the second time information and a second internal clock, and generates the third time information. You can write to the time stamp of the data. Through this, the control system 110 and the remote operation system 120 included in the remote system 100 can be time-synchronized so ^{that the third time information recorded in the time stamp of the data has an error of 10 -3 seconds or less.} have.

Meanwhile, the above-described embodiments of the present invention can be written as a program that can be executed on a computer, and can be implemented in a general-purpose digital computer that operates the program using a computer-readable recording medium. In addition, the structure of the data used in the above-described embodiment of the present invention may be recorded in a computer-readable recording medium through various means. The computer-readable recording medium includes a storage medium such as a magnetic storage medium (eg, a ROM, a floppy disk, a hard disk, etc.) and an optically readable medium (eg, a CD-ROM, a DVD, etc.).

So far, with respect to the present invention, the preferred embodiments have been looked at. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention can be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments are to be considered in an illustrative rather than a restrictive sense. The scope of the present invention is indicated in the claims rather than the foregoing description, and all differences within the scope equivalent thereto should be construed as being included in the present invention.

Claims (9)

A remote system comprising a control system and a remote operation system, comprising:
Each of the control system and the remote operation system operates a redundant network including a data network and a recording network,
The data network corresponds to a network for transmitting and receiving at least one of control information, image information, and status information necessary for the operation of the control system and the remote operation system,
the recording network corresponds to a network for storing transmission and reception data of the control system and the remote operation system;
each of the control system and the remote operation system includes a recording device for storing the transmission and reception data via the recording network;
The recording device is
a GPS signal receiver for receiving first time information from a Global Positioning System (GPS) RF (Radio Frequency) signal;
a time information management unit for generating second time information having a unit of ^{10 -3} seconds or less based on a reception time of the first time information and a first internal clock; and
Based on the reception time of the second time information and a second internal clock, ^{third time information having a unit of 10 -6} seconds or less is generated, and the third time information is used as a time stamp of the data. a data storage unit for writing to; including, a remote system. The method of claim 1,
each of the control system and remote operating system,
The remote system is time-synchronized so that the third time information recorded in the timestamp of the data has ^{an error of 10 -3 seconds or less.} The method of claim 1,
The recording device is
A remote system for applying a shielding function to a CPU (Central Processing Unit) of a component that transmits and receives the data in each of the control system and the remote operation system. delete The method of claim 1,
The second time information is

A remote system defined as . The method of claim 1,
The third time information is,

A remote system defined as . A method for synchronizing time in a remote system, the method comprising:
In the redundant network including a data network and a recording network, first time information is obtained from a GPS (Global Positioning System) RF (Radio Frequency) signal through a GPS signal receiving unit of a recording device that stores transmission and reception data through the recording network. receiving;
generating second time information having a unit of ^{10 −3} seconds or less based on the reception time of the first time information and a first internal clock through the time information management unit of the recording device; and
Based on the reception time of the second time information and a second internal clock through the data storage unit of the recording device, ^{third time information having a unit of 10 −6} seconds or less is generated, and the third time information is stored writing to a time stamp of the data; A time synchronization method comprising A program for implementing a time synchronization method of a remote system is recorded in a computer-readable recording medium,
The method is
In the redundant network including a data network and a recording network, first time information is obtained from a GPS (Global Positioning System) RF (Radio Frequency) signal through a GPS signal receiving unit of a recording device that stores transmission and reception data through the recording network. receiving;
generating second time information having a unit of ^{10 −3} seconds or less based on the reception time of the first time information and a first internal clock through the time information management unit of the recording device; and
Based on the reception time of the second time information and a second internal clock through the data storage unit of the recording device, ^{third time information having a unit of 10 −6} seconds or less is generated, and the third time information is stored writing to a time stamp of the data; A recording medium comprising a. In combination with hardware, a computer program stored on a medium for executing a method of synchronizing time of a remote system, comprising:
The method is
In the redundant network including a data network and a recording network, first time information is obtained from a GPS (Gobal Positioning System) RF (Radio Frequency) signal through a GPS signal receiving unit of a recording device that stores transmission/reception data through the recording network. receiving;
generating second time information having a unit of ^{10 −3} seconds or less based on the reception time of the first time information and a first internal clock through the time information management unit of the recording device; and
Based on the reception time of the second time information and a second internal clock through the data storage unit of the recording device, ^{third time information having a unit of 10 −6} seconds or less is generated, and the third time information is stored writing to a time stamp of the data; A computer program comprising a.

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