CN110187705A - A kind of Robot remote time delay eliminates control system and method - Google Patents
A kind of Robot remote time delay eliminates control system and method Download PDFInfo
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Abstract
The invention proposes a kind of Robot remote time delays to eliminate control system, based on ontology control system, time coordination device is all added in control terminal and object side, and there is plant characteristic fallout predictor in control terminal design, in the case where there is time delay, control terminal and object side are instructed respectively using the output of fallout predictor, generate the equivalent Control platform of zero time delay；On the other hand, present invention is alternatively directed to above-mentioned control systems, propose a kind of Robot remote time delay elimination control method, and the present invention haves no need to change the ontology Controlling model of original system, can effectively eliminate the time delay of random length, promote the effect of control engineering.
Description
Technical field
The present invention relates to electronic technology, automatic control and intelligent fields more particularly to a kind of Robot remote time delay to disappear
Except control system and method.
Background technique
As robot is in the extensive use of the key areas such as military affairs, industry, must gradually be relied on instead of in the past many
The task that manpower could be completed.Under application scenes, remote control time delay caused by complex environment leverages robot
Application effect.Remote control delay, which frequently results in system, cannot accurately track the input quantity of system, and when system generates external disturb
When dynamic, the overshoot of system can be gradually increased, and influence the stability of system, even jeopardize equipment and personal safety when serious.
Summary of the invention
To solve the above-mentioned problems, the invention proposes a kind of Robot remote time delays to eliminate control system, in control terminal
Time coordination device and plant characteristic fallout predictor is added, time coordination device is added in object side, and distinguish using the output of fallout predictor
Control terminal and object side are instructed, the control effect of zero time delay is generated.
Specific technical solution is as follows:
A kind of Robot remote time delay elimination control system, including control terminal and object side, the control terminal are to accuse
The heat transfer agent that can be fed back according to object side in system processed, issues the part of corresponding control instruction；The control terminal includes
First signal transceiver, first time coordinator, plant characteristic fallout predictor make a decision device, controller and first processor；It is described
Object side include second signal transceiver, the second time coordination device, second processor, controlled device, sensor.
Preferably, first signal transceiver, on the one hand for the control instruction of control terminal to be sent to object side；
On the other hand for receiving the sensing data of object side feedback；
The first time coordinator, the sensor number that on the one hand object side received is fed back for control terminal
According to data moment and the time of reception parsed, with judge communication time delay；On the other hand for the time delay threshold of system to be arranged
Value；
The plant characteristic fallout predictor, the sensing data for being transmitted according to the object side received, passes through machine
Learning model predicts the sensor values of any future time point in real time；
The resolution device, for making a decision the generation foundation of control signal, the generation foundation for controlling signal can be object
The real-time sensory data at end is also possible to the prediction numerical value of plant characteristic fallout predictor；
The controller, sensing data or prediction numerical value for being transmitted according to resolution device, generates corresponding control letter
Number, and the control signal is sent to first processor；
The first processor is sent to for it will control the encoded processing of signal after by the first signal transceiver
Object side.
Preferably, the second signal transceiver, on the one hand for receiving the control signal that control terminal transmits, another party
The real time data that face is used to perceive sensor is sent to control terminal；
The second time coordination device, at the time of being on the one hand used for accurate recording sensor perception data and data are sent out
Send the moment；When being on the other hand used for school mutual with first time coordinator；
The second processor, on the one hand for decoding control instruction, control controlled device executes corresponding movement；Separately
On the one hand, the data for being perceived sensor send second signal transceiver to；
The controlled device is the final control object of control system of the present invention；
The sensor, for perceiving the live sensing data of robot.
A kind of Robot remote time delay removing method, processing step include:
When second time coordination device of the first time coordinator of control terminal and object side is carried out mutual school by S10；
The perception data of sensor and data time information are fed back to control terminal by S20 object side；
S30 control terminal parses the above-mentioned data packet received；
S40 first time coordinator will parse data and be respectively transmitted to plant characteristic fallout predictor and resolution device；
S50 plant characteristic fallout predictor establishes the machine of sensing data and obstacle distance prediction using the parsing data transmitted
Learning model；
S60 resolution device receives the parsing data that first time coordinator transmits, and calculates communication delay and makes a decision barrier out
At a distance from robot, controller is transmitted to generate corresponding control instruction；
S70 object side receives the control instruction that control terminal is sent, and controls controlled device and execute corresponding operation.
Preferably, the specific processing step of the step S60 are as follows:
S601 calculates communication delay tl=tr-ts；
S602 is according to Time Delay of Systems threshold tau0With communication delay tlMake a decision out barrier at a distance from robot；
1. if tl> τ0, then using the Prediction distance of neural network in plant characteristic fallout predictor as barrier and robot
Distance；
2. if tl≤τ0, then it is assumed that current tdThe communication environment at moment meets real time communication requirement, makes a decision device for tdMoment
The distance between robot and barrier ddResolution value as distance between robot and barrier；
3. the resolution value of distance between robot and barrier is transmitted to controller by the resolution device, controller is according to institute
The resolution value of distance between the robot and barrier stated feeds back to operator automatically by force feedback function, and operator issues
Corresponding control instruction is transmitted to the first signal transceiver through the first processor, and the first signal transceiver sends out control instruction
Give object side.
The utility model has the advantages that
Control system is eliminated the invention proposes a kind of Robot remote time delay controlling based on ontology control system
Time coordination device is all added in end processed and object side, and has plant characteristic fallout predictor in control terminal design, is there is the case where time delay
Under, control terminal and object side are instructed respectively using the output of fallout predictor, generate the equivalent Control platform of zero time delay.On the other hand,
Present invention is alternatively directed to above-mentioned control systems, propose a kind of Robot remote time delay elimination control method, and the present invention does not need to change
The ontology Controlling model for becoming original system can effectively eliminate the time delay of random length, promote the effect of control engineering.
Detailed description of the invention
Fig. 1 Robot remote time delay of the present invention eliminates control system block diagram；
The system block diagram of Fig. 2 embodiment control kinematic robot avoidance of the present invention；
Fig. 3 Robot remote time delay of the present invention eliminates control method flow chart；
The prediction of Fig. 4 plant characteristic fallout predictor and obstacle distance machine learning flow chart；
RBF neural network structure figure constructed by Fig. 5 embodiment of the present invention, wherein * symbol indicates two matrix element step-by-steps
Set multiplication；
Fig. 6 makes a decision the resolution flow chart that device carries out robot and obstacle distance.
Specific embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.Specific implementation described herein
Example for explaining only the invention, rather than limitation of the invention.
Referring to shown in attached drawing 1, a kind of Robot remote time delay elimination control system of the present invention, by 10 He of control terminal
20 two large divisions of object side is constituted, and the control terminal 10 refers to that the sensing that can be fed back according to object side in control system is believed
Breath, issues the part of corresponding control instruction.The control terminal 10 includes the first signal transceiver 11, first time coordinator
12, plant characteristic fallout predictor 13 makes a decision device 14, and controller 15 and first processor 16 form.The object side 20 includes
Second signal transceiver 21, the second time coordination device 22, second processor 23, controlled device 24, sensor 25.
First signal transceiver 11, on the one hand for the control instruction of control terminal 10 to be sent to object side 20；
On the other hand for receiving the sensing data of the feedback of object side 20.
The first time coordinator 12, the biography that on the one hand object side 20 received is fed back for control terminal 10
The data moment of sensor data and the time of reception are parsed, to judge the time delay of communication；On the other hand for system to be arranged
When delay threshold and school.The data moment of the sensing data refers to the data that the sensor 25 of object side 20 perceives
Real time of day.There is timing chip in the first time coordinator 12, the timing chip can be according to the time delay of application
It is required that select, as long as meeting timing error an order of magnitude lower than the delay threshold of control system scene of the present invention
(being the truth of a matter with 10) or above, the delay threshold refers to that the control system is being added without time delay of the present invention
Control system is eliminated, control terminal 10 is directly controlled with object side 20, in the case that control effect is just met for demand for control,
Remote control time delay, that is, time delay threshold tau between control terminal 10 and object side 20 at this time0, the delay threshold can by operator according to
Usage scenario demand is arranged by first time coordinator.As a kind of situation of the present embodiment, timing chip selects timing
Precision 50ms (millisecond), then the system can meet delay threshold τ0The application of >=500ms.
It should be noted that system is between initialization and control terminal and object side the two in addition to system itself can not be eliminated
Outside time delay, without it is other because of extra latency caused by communication link in the state of, the first time coordinator 12 and second
When timing chip in time coordination device 22 needs first to carry out primary mutual school, so that when first time coordinator 12 and second
Between 22 timing of coordinator starting point it is synchronous.
The plant characteristic fallout predictor 13, the sensing data for being transmitted according to the object side 20 received, passes through
Machine learning model predicts the sensor values of any future time point in real time.As a kind of situation of the present embodiment, it is remotely controlled machine
When device people carries out avoidance, come the distance between measurement sensor and barrier, plant characteristic prediction using ultrasonic sensor
Device predicts the numerical value of sensor by the fitting algorithm of machine learning.
The resolution device 14 controls the generation of signal according to can be pair for making a decision the generation foundation of control signal
As the real-time sensory data at end 20, it is also possible to the prediction numerical value of plant characteristic fallout predictor 13.Specifically, the resolution device 14 is first
The delay threshold τ of real time communication time delay and system that first first time coordinator 12 is judged0It compares, if when real time communication
Prolong and is less than delay threshold τ0, then the sensing data that the resolution device 14 will parse object side 20 and transmit, and by the sensing number
According to passing through controller 15；If real time communication time delay has been more than delay threshold τ0, then the resolution device 14 will call plant characteristic
Prediction numerical value in fallout predictor 13, and the prediction numerical value is transmitted to controller 15, the generation foundation as control signal.
The controller 15, sensing data or prediction numerical value for being transmitted according to resolution device 14, generates corresponding control
Signal processed, and the control signal is sent to first processor 16.
The first processor 16 is sent out for it will control the encoded processing of signal after by the first signal transceiver 11
Object side 20, the specific steps of the coded treatment are given, those skilled in the art can refer to the prior art, and the present invention, which is not done, to be had
Body limits.
The second signal transceiver 21, on the one hand for receiving the control signal that control terminal 10 transmits, on the other hand
Real time data for perceiving sensor 25 is sent to control terminal 10.
The second time coordination device 22, on the one hand be used for 25 perception data of accurate recording sensor at the time of and number
According to sending instant.When on the other hand for first time 12 mutual school of coordinator.
The second processor 23, on the one hand for decoding control instruction, control controlled device 24 executes corresponding dynamic
Make；On the other hand, the data for being perceived sensor 25 send second signal transceiver 21 to.
The controlled device 24 is the final control object of control system of the present invention, as the embodiment of the present invention
A kind of situation, controlled device 24 can be control motor.
The sensor 25, for perceiving the live sensing data of robot.A kind of feelings as the embodiment of the present invention
Condition, sensor 25 can move speed by the ultrasonic sensor and robot measurement of distance between robot measurement and barrier
The sensor of degree and angular speed collectively constitutes.
In the present embodiment, carry out formal control task before, first pass through first time coordinator 12 be arranged system when
Prolong threshold value, and in the state that control terminal 10 and object side 20 have good communication, the good communication state refers to control terminal
Between object side the two other than system itself can not eliminate time delay, without other shapes because of extra latency caused by communication link
State, first time coordinator 12 issues correcting delay signal to the first signal transceiver 11, and then is sent to second signal transceiver 21,
After second signal transceiver 21 receives correcting delay signal, correcting delay signal is sent to the second time coordination device 22, the second time association
When device 22 being adjusted to receive correcting delay signal realization and the Timing Synchronization, i.e. school of first time coordinator 12.
When completing above-mentioned school after work, system starts to execute formal control task, locating for 25 perceptive object end 20 of sensor
Live sensing data be sent to second processor 23 in real time, second processor 23 is while receiving sensing data from second
The data moment of sensing data is read in time coordination device 22, and sensing data and corresponding data moment are sent to the second letter
Number transceiver 21, after second signal transceiver receives sensing data and corresponding data time data, immediately from the second time
Obtain the sending instant of data in coordinator 22, and then second signal transceiver is by sensing data and corresponding data moment, hair
Time information is sent uniformly to be sent to the first signal transceiver 11；After first signal transceiver 11 receives above-mentioned data, by data
Packet is transmitted to first time coordinator 12, and first time coordinator 12 parses above-mentioned data, gets sensing data, sensing data
Data moment, data sending instant complete data at the time of recycling the record of first time coordinator 12 to obtain data receiver
Parsing.
First time coordinator 12 will parse data and be respectively transmitted to plant characteristic fallout predictor 13 and resolution device 14.
Plant characteristic fallout predictor 13 establishes the controlled device Predicting Performance Characteristics machine of sensing data using the parsing data received
Device learning model, after the completion of the machine learning model is established, plant characteristic fallout predictor 13 can predict following sensing number
According to.
Resolution device 14 receives the parsing data that first time coordinator 12 transmits, and calculates communication delay, and prolong according to communication
When with the relationship of delay threshold of system setting make a decision the sensing data for meeting demand for control under present communications time delay out, be transmitted to control
Device 15 processed.
Controller 15 receives the sensing data that transmits of resolution device 14, generates control instruction, and control instruction is passed through the
The first signal transceiver 11 is issued after one processor 16 coding, control instruction is sent to second signal by the first signal transceiver 11
Transceiver 21, for control instruction after the decoding of second processor 23, control controlled device 24 executes corresponding control action.
On the other hand, the present invention is also based on above-mentioned Robot remote time delay and eliminates control system to propose a kind of robot distant
It controls time delay and eliminates control method, it, below will be to use method of the present invention sometimes as presently preferred embodiments of the present invention
Expansion is described in detail for controlling kinematic robot Real Time Obstacle Avoiding in the case where prolonging, reference attached drawing 2, fitness machine described in the present embodiment
15 example of controller of device people's control system uses the PHANTOM omni tactile of U.S. Sensable Technologies company
Device controller, the distance values which can feed back the sensor 25 in object side 20 are anti-by the power on controller
Feedback function feeds back to operator, and can obviously distinguish impression to operator's feedback according to the distance with barrier
Different size of power also can carry out remote-controlled robot avoidance by force feedback even if such operator does not have visual condition.
Referring to shown in attached drawing 3, method of the present invention is mainly comprised the steps that
Second time coordination device 22 of the first time coordinator 12 of control terminal 10 and object side 20 is carried out mutual school by S10
When.
In the present embodiment, the first time coordinator 12 and specific behaviour when the second time coordination 22 mutual school of device
As: in the case where there is good communication environment between control terminal 10 and object side 20 before system life's work, at the first time
Coordinator 12 issues correcting delay signal to the first signal transceiver 11, and then is sent to second signal transceiver 21, and second signal is received
After hair device 21 receives correcting delay signal, correcting delay signal is sent to the second time coordination device 22, the second time coordination device 22 receives
When correcting delay signal realizes the Timing Synchronization, i.e. school with first time coordinator 12., realize the first time coordinator 12 and
When the mutual school of two time coordination devices 22.
The perception data of sensor 25 and data time information are fed back to control terminal 10 by S20 object side 20.
Specifically, object side 20 is while sensor 25 perceives environmental data (hereinafter referred to as " sensing data "), and
Two time coordination devices 22 correspond timer time and sensing data to form data packet, are sent by second signal transceiver 21
To control terminal 10.
S30 control terminal 10 parses the above-mentioned data packet received.
Specifically, after the first signal transceiver 11 of control terminal 10 receives above-mentioned data packet, data packet is transmitted to first
Time coordination device 12, first time coordinator 12 parse above-mentioned data packet, get sensing data Di, sensing data DiData
Moment td, at the time of data packet is issued from object side 20, that is, data sending instant ts, recycle the record of first time coordinator 12
Obtain t at the time of data packet controlled terminal 10 receivesr, complete the parsing of above-mentioned data packet.
It should be noted that in step slo first time coordinator 12 and when the second time coordination 22 school of device after the completion of,
The timer of the two is all cleared, origin at the time of using this moment as system, hereafter at the time of be all with the moment origin work
For reference, referred to as relative instant, therefore the present invention illustrates in text, is relative instant at the time of described unless otherwise specified.
S40 first time coordinator 12 will parse data and be respectively transmitted to plant characteristic fallout predictor 13 and resolution device 14.
S50 plant characteristic fallout predictor 13 establishes the machine of sensing data and obstacle distance prediction using the parsing data transmitted
Device learning model.
The present embodiment uses RBF (radial basis function) neural network, according to the speed of object side 20, angular speed and obstacle
The distance of object and relative instant predict that object side 20 at a distance from barrier, referring to attached drawing 4, is specifically adopted at certain following moment
With following steps:
S501 plant characteristic fallout predictor 13 extracts the sample number for participating in neural computing using the parsing data transmitted
According to being stored in the data acquisition system of sample data；
Assuming that in S50 step, parsing data that plant characteristic fallout predictor 13 receives are as follows: Di={ vi,wi,di, wherein i
For the natural number greater than 0, the group number of data is indicated；viIndicate the movement velocity of kinematic robot, wiIndicate turning for kinematic robot
Dynamic speed, diIndicate kinematic robot at a distance from barrier.Data DiThe corresponding data acquisition moment is tdi.Then this group of data
It extracts sample characteristics and the matrix form being stored in sample data matrix P is [vi wi tdi], and so on, it is assumed that object is special
It levies fallout predictor 13 and is set as data acquisition system G according to the data that the moment successively receives, therefrom randomly select n (n is natural number) group data,
In order to ensure sample data can provide sufficient sample data volume, n > 100 for the training of neural network.So sample data is instructed
Practice collection P and result set T to be respectively as follows:
S502 constructs RBF neural, network structure is referring to attached drawing 5 according to sample data structure.
In figure 5, IW1,1The connection weight matrix for indicating input layer and hidden layer, in RBF nerve of the present invention
In network, IW1,1For definite value, IW1,1=(P ')3×n；
| | dist | | indicate the training set P of inputn×3With IW1,1Euclidean distance, | | dist | |=| | IW1,1-Pn×3||；
b1Indicate that input layer connect threshold value with hidden layer,Wherein 0.6 indicate
The center of radial basis function and the control parameter of sample relationship, b1Dimension be n.
Activation primitive (i.e. radial basis function) is selected
LW2,1Indicate the connection weight between hidden layer and output layer, in the present embodiment, LW2,1=Tn×1；
b2Indicate the threshold value between hidden layer and output layer, occurrence will generate in calculating process；
Liner indicates linear solution function, uses function f (x)=x in the present embodiment；
The training of S503 neural network.
1. calculating the output of activation primitive
2. calculating the threshold value b between hidden layer and output layer2:
If an intermediary matrix variableN column 1, threshold value b are shared in denominator2(n+1) of matrix X is taken to arrange.
3. calculating network output
S504 utilizes test set and its result set data, to test the training effect of neural network.
N (N > 10 are natural number) group data are randomly selected from the data acquisition system G of plant characteristic fallout predictor 13 as test
Collection, is denoted as Ptest, result set is denoted as Ttest。
1. by the input P of test settestIt is input to RBF neural described in step S503, result is obtained and is denoted as Tsim
2. calculating TsimWith corresponding result set TtestRelative error, formula is as follows:
Matrix is divided by herein, is directly divided by using same position element.
3. calculating the coefficient of determination R of RBF neural2, formula is as follows:
Sum (A) in above formula, A are column vector, indicate the sum for seeking A all elements；" .* " indicates that opsition dependent is identical by two vectors
The element multiplication of position；" .2 " indicates that each element of vector is squared；
If S505 relative error error and coefficient of determination R2All meet actual demand, then the RBF neural has been trained
Finish, otherwise circulation executes S501 to S504 step, until relative error and the coefficient of determination all meet actual demand.
Specifically, one relative error level that can satisfy actual demand of setting is needed to be set as δ in actual use, at this
δ=10 in embodiment-2If error < δ, then it is assumed that relative error meets actual demand.Similarly one higher decision of setting
Factor levels ∈, ∈=0.95 in the present embodiment, if R2> 0.95, then it is assumed that the coefficient of determination of RBF neural meets practical
Demand.
S60 resolution device 14 receives the parsing data that transmit of first time coordinator 12, calculates communication delay and makes a decision and hinders out
Hinder object at a distance from robot, is transmitted to controller 15 to generate corresponding control instruction.
Referring to attached drawing 6, specific processing step are as follows:
S601 calculates communication delay tl=tr-rs；
S602 is according to Time Delay of Systems threshold tau0With communication delay tlMake a decision out barrier at a distance from robot；
1. if tl> τ0, then using the Prediction distance of neural network in plant characteristic fallout predictor 13 as barrier and machine
The distance of people.
Process is as follows: resolution device 14 is by control terminal 10 in trMoment has received tdThe sensing data at moment is converted to object spy
Property fallout predictor 13 in neural network input feature vector form be [vd wd td].In order to eliminate remote control time delay, neural network will be predicted
Moment is tk=(tr+tl) barrier at a distance from robot.Input feature vector estimated value isIts
InIndicate tkRobot speed's estimated value at moment,Indicate tkThe Schemes of Angular Velocity Estimation for Robots estimated value at moment, due to relative to
For communication delay, the robot speed of two adjacent communication occasions and angular speed change can be ignored, and therefore, enable
Then there is Pk=[vd wd tk], by PkThe RBF neural being input in object feature prediction device 13 will obtain tkWhen
The barrier and robot range prediction value d at quarterk, i.e. tl≤τ0Under the conditions of between robot and barrier distance resolution value.
2. if tl≤τ0, then it is assumed that current tdThe communication environment at moment meets real time communication requirement, makes a decision device 14 for tdWhen
Carve the distance between robot and barrier ddResolution value as distance between robot and barrier.
3. the resolution value of distance between robot and barrier is transmitted to controller 15, controller 15 by the resolution device 14
According to the resolution value of distance between the robot and barrier, operator is fed back to automatically by force feedback function, is manipulated
Person issues corresponding control instruction and is transmitted to the first signal transceiver 11, the first signal transceiver 11 through the first processor 16
Control instruction is sent to object side 20.
S70 object side 20 receives the control instruction that control terminal 10 is sent, and controls controlled device 24 and execute corresponding operation.
The second signal transceiver 21 of object side 20 receives the control instruction that control terminal 10 is sent, through second processor
After 23 decodings, it is transmitted to controlled device 24 and executes corresponding operation.
In conclusion can realize that a kind of Robot remote time delay of the present invention eliminates control system and method.When
There is communication delay tlWhen, control terminal will be according to tlSituation after time window issues control instruction, makes the quality and nothing of control process
The case where time delay, is the same.Prolong when in communication in delay threshold τ0It in range, is then controlled, is promoted in the way of real-time control
Control efficiency.
Obviously present invention specific implementation is not subject to the restrictions described above, as long as using method concept and skill of the invention
The improvement for the various unsubstantialities that art scheme carries out, or not improved the conception and technical scheme of the invention are directly applied to it
Its occasion, within that scope of the present invention.
Claims (5)
1. a kind of Robot remote time delay eliminates control system, which is characterized in that including control terminal (10) and object side (20), institute
The control terminal (10) stated refers to the heat transfer agent that can be fed back according to object side in control system, issues the portion of corresponding control instruction
Point；The control terminal (10) includes the first signal transceiver (11), first time coordinator (12), plant characteristic fallout predictor
(13), make a decision device (14), controller (15) and first processor (16)；The object side (20) includes second signal transmitting-receiving
Device (21), the second time coordination device (22), second processor (23), controlled device (24), sensor (25).
2. Robot remote time delay as described in claim 1 eliminates control system, which is characterized in that first signal is received
It sends out device (11), on the one hand for the control instruction of control terminal (10) to be sent to object side (20)；On the other hand for reception pair
The sensing data fed back as end (20)；
The first time coordinator (12) on the one hand feeds back the object side (20) received for control terminal (10)
The data moment of sensing data and the time of reception are parsed, to judge the time delay of communication；On the other hand for system to be arranged
Delay threshold；
The plant characteristic fallout predictor (13), the sensing data for being transmitted according to the object side (20) received, passes through
Machine learning model predicts the sensor values of any future time point in real time；
The resolution device (14), for making a decision the generation foundation of control signal, the generation foundation for controlling signal can be object
The real-time sensory data for holding (20), is also possible to the prediction numerical value of plant characteristic fallout predictor (13)；
The controller (15), sensing data or prediction numerical value for being transmitted according to resolution device (14), generates corresponding control
Signal processed, and the control signal is sent to first processor (16)；
The first processor (16) is sent out for it will control the encoded processing of signal after by the first signal transceiver (11)
Give object side (20).
3. Robot remote time delay as described in claim 1 eliminates control system, which is characterized in that the second signal is received
It sends out device (21), on the one hand for receiving the control signal that control terminal (10) transmits, on the other hand for perceiving sensor (25)
To real time data be sent to control terminal (10)；
The second time coordination device (22), on the one hand be used for accurate recording sensor (25) perception data at the time of and number
According to sending instant；When on the other hand for first time coordinator (12) mutual school；
The second processor (23), on the one hand for decoding control instruction, control controlled device (24) executes corresponding dynamic
Make；On the other hand, the data for being perceived sensor (25), send second signal transceiver (21) to；
The controlled device (24) is the final control object of control system of the present invention；
The sensor (25) is the live sensing data for perceiving robot.
4. a kind of Robot remote time delay removing method, which is characterized in that processing step includes:
S10 carries out control terminal (10) first time coordinator (12) and the second time coordination device (22) of object side (20) mutual
When phase school；
The perception data of sensor (25) and data time information are fed back to control terminal (10) by S20 object side (20)；
S30 control terminal (10) parses the above-mentioned data packet received；
S40 first time coordinator (12) is respectively transmitted data are parsed to plant characteristic fallout predictor (13) and resolution device (14)；
S50 plant characteristic fallout predictor (13) establishes the machine of sensing data and obstacle distance prediction using the parsing data transmitted
Device learning model；
S60 resolution device (14) receives first time coordinator (12) parsing data for transmitting, calculates communication delay and makes a decision and hinders out
Hinder object at a distance from robot, is transmitted to controller (15) to generate corresponding control instruction；
S70 object side (20) receives the control instruction that control terminal (10) are sent, and controls controlled device (24) and execute corresponding behaviour
Make.
5. Robot remote time delay removing method as claimed in claim 4, which is characterized in that the specific place of the step S60
Manage step are as follows:
S601 calculates communication delay tl=tr-ts；
S602 is according to Time Delay of Systems threshold tau0With communication delay tlMake a decision out barrier at a distance from robot；
1. if tl> τ0, then using the Prediction distance of neural network in plant characteristic fallout predictor (13) as barrier and robot
Distance；
2. if tl≤τ0, then it is assumed that current tdThe communication environment at moment meets real time communication requirement, makes a decision device (14) for tdMoment machine
The distance between device people and barrier ddResolution value as distance between robot and barrier；
3. the resolution value of distance between robot and barrier is transmitted to controller (15) by the resolution device 14, controller (15)
According to the resolution value of distance between the robot and barrier, operator is fed back to automatically by force feedback function, is manipulated
Person issues corresponding control instruction and is transmitted to the first signal transceiver (11), the first signal transmitting and receiving through the first processor (16)
Control instruction is sent to object side (20) by device (11).
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