JP2019029697A - Packet disposal system and method - Google Patents

Abstract

To provide a packet disposal system and a method capable of preventing shortage of network bandwidth and/or increase of processing load imposed on a calculation unit.SOLUTION: A packet disposal system 400 is disposed on a communication path between an operation unit 100 having an image information transmitting device 100 and a calculation unit 200. The packet disposal system 400 is configured to determine whether or not to dispose of the image information for each packet unit transmitted from the operation unit 100 to the calculation unit 200 on the basis of any of a piece of state information from the operation unit 100, a piece of operation instruction information from the calculation unit 200, or a correspondence relationship of the combination thereof and the image information, and to discard of the image information in a packet unit on the basis of the determination result.SELECTED DRAWING: Figure 2

Description

  The present invention transmits an image information transmission device such as a camera connected via a network, an operation device such as a robot, and a calculation device such as a server, from the image information transmission device to the calculation device. The present invention relates to a system and method for discarding image information to be processed in units of packets.

  There is a concept of a network robot that aims to realize services that cannot be achieved by a single robot by combining a network and a robot. Network robots collect information on the robot's operating environment obtained from sensors such as cameras on the cloud, and use it as information for controlling multiple robots over the network, in addition to improving the functions of a single robot. it can. If the functions for controlling robots, which were often deployed locally until now, are aggregated and deployed on the cloud, individual advanced control functions utilizing information on the robot's operating environment obtained from sensors such as cameras will be provided. Therefore, it is possible to develop services using advanced control of a plurality of robots while reducing the cost of individual hardware and the maintenance operation cost of maintenance.

  As an example of a service, connect multiple robots equipped with cameras as sensors and a cloud server via a network, send image information of the environment where the robot is installed to the cloud server, and perform image recognition processing, and use the results Considering the case of controlling the robot, a large amount of image information having a larger data size than the text-based information is generated on the network. Even in such a case, there is traffic shaping as a technique for controlling traffic by delaying packets so as not to exceed a predetermined reference amount of traffic (Non-Patent Document 1).

  On the other hand, as an existing technique for data compression of image information having a large data size, H.264 is known. For example, a compression encoding method for moving image information such as H.264 (Non-Patent Document 2) is available. H. H.264 compresses moving picture information transmitted from the terminal using an algorithm that combines motion compensation, interframe prediction, discrete cosine transform, entropy coding, etc., thereby reducing the amount of data while maintaining substantial properties. This is a compression encoding method for converting into other data. H. Since the compression encoding method such as H.264 determines the key frame and its difference by looking at the contents of the image information, it is a method of reducing image information that can be implemented for the first time by providing a function for processing the image information itself. One.

Japanese Patent No. 4953425

"Traffic control and congestion control in B-ISDN", ITU-T, I.371, section 7.2.7 defines and discusses Traffic Shaping in B-ISDN "Advanced video coding for generic audiovisual services", ITU-T, H.264, SERIES H: AUDIOVISUAL AND MULTIMEDIA SYSTEMS, Infrastructure of audiovisual services-Coding of moving video, 2004

  Connect multiple robots equipped with cameras as sensors to the cloud server via a network, send the image information of the environment where the robot is installed to the cloud server for image recognition processing, and use the results to control the robot When the robot vibrates or moves at high speed, the image quality of the image information acquired by the camera may deteriorate. In image recognition performed by the cloud server, the image needs to have an image quality that allows the cloud server to correctly recognize the object in the image, and even if an image that does not satisfy the image quality is transmitted, the image recognition is performed. Can not be used. Therefore, it is not necessary to transmit image information with inferior image quality from the robot side to the cloud server side via the network, which causes problems that cause network bandwidth compression and an increase in processing load on the cloud server. In addition, although it can be used for image recognition such as image information when the robot is continuously stationary, image information that does not affect robot control need not reach the cloud server. Transmission also causes problems that cause network bandwidth compression and cloud server processing load increase.

  On the other hand, image information is transmitted from the robot side to the cloud server regardless of the image quality, and the cloud server recognizes the image using image information of image quality that the cloud server cannot correctly recognize the object in the image. If you do, misrecognition will occur. When the robot is controlled using the misrecognized result, there arises a problem that a task for the purpose of using the robot cannot be achieved, and a task other than the purpose of using the robot, for example, a motion causing a problem in safety.

  In order to prevent image information of image quality that the cloud server cannot correctly recognize the object in the image transmitted from the robot side from reaching the cloud server side, the image information in any case is allowed to reach the cloud server It is necessary to judge whether it is necessary. Existing technologies such as traffic shaping select image quality image information that the cloud server cannot correctly recognize objects in the image in that traffic is controlled by delaying packets according to a predetermined traffic reference amount. However, there is a problem that cannot be applied as it is. H. When a method for compressing and encoding moving image information such as H.264 is used, it is necessary to provide a function capable of processing image information itself on a network in which a robot and a cloud server are connected. Processing time is required to reconstruct an image from image information fragmented in packet units, analyze the contents, and perform compression again. Real-time performance of image recognition processing for the environment where the robot is installed The problem which damages will arise. In addition, there is a problem that the high load processing described above must be performed on the network.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a packet discard system and method that can reduce network bandwidth pressure and an increase in processing load on a computing device.

  In order to achieve the above object, the present invention includes an operating device having an image information transmitting device that transmits image information, and a computing device that performs image processing based on image information acquired from the operating device via a network. A packet discard system arranged on a communication path between the operating device and the computing device in a network system, the status information indicating its own operating state transmitted to the computing device by the operating device, and the computing device Whether to discard the image information transmitted from the operating device to the computing device based on the correspondence between the image information and any one or a combination of the operation command information transmitted to the operating device And packet discarding means for discarding the image information in packet units based on the determination result. To.

  According to the packet discarding system of the present invention, a packet of image information that cannot be used for image recognition performed by the computing device can be discarded on the network between the image information transmitting device and the computing device. Network network compression due to image data having a large data size and an increase in processing load on the computing device can be reduced.

  At the same time, there is a risk that an erroneous operation that occurs when the computing device recognizes an image using an image having a problem in image quality, and that it is not possible to create an operation command for achieving the intended work using the robot. It is possible to reduce the risk of creating an operation other than the purpose of using the robot, for example, an operation command having a safety problem.

  Further, since the deletion of the image information is performed in units of packets using information indicating the state of the operating device, the image is reconstructed from the image information fragmented in units of packets, the contents are analyzed, and the compression process is performed again. Thus, it is possible to avoid high-load processing that impairs real-time performance and requires processing time. That is, it is possible to ensure real-time image recognition processing for the environment in which the robot is installed, and to reduce processing on the network.

Configuration diagram of a network system as a premise of the present invention Network configuration diagram introducing the packet discard system of the present invention Example of xyz space where actuator and work object are installed Functional block diagram of packet discard system Operation sequence of packet discarding system according to first embodiment Operation Flow of Image Information Deletion Determining Unit According to First Embodiment Example of correspondence information Operation flow of image information deletion unit Functional block diagram of packet discard system Operation sequence of packet discard system according to second embodiment Operation flow of image information deletion determination unit according to second embodiment Example of correspondence information Operation sequence of packet discard system according to third embodiment Operation Flow of Image Information Deletion Determination Unit According to Third Embodiment Operation sequence of packet discard system according to fourth embodiment Operation Flow of Image Information Deletion Determination Unit According to Fourth Embodiment Operation flow of image information deletion unit Operation sequence of packet discard system according to fifth embodiment Operation Flow of Image Information Deletion Determination Unit According to Fifth Embodiment Operation sequence of packet discarding system according to sixth embodiment Operation Flow of Image Information Deletion Determination Unit According to Sixth Embodiment

  A packet discarding system according to an embodiment of the present invention will be described with reference to the drawings. First, the outline of the present invention will be described with reference to FIGS. FIG. 1 is a configuration diagram of a premised network system, and FIG. 2 is a network configuration diagram to which a packet discard system is applied.

  As shown in FIG. 1, the network system includes an operating device 100 such as a robot, and a computing device 200 that creates and transmits operation command information for the operating device 100 based on image recognition processing and image recognition processing. Connected. A packet discard system 400 according to the present invention is applied to the network system shown in FIG.

  In FIG. 1 and FIG. 2, the operating device 100 acquires an image information transmitting device 110 that transmits a video obtained by imaging the periphery of the operating device 100 as real-time image information, and status information such as coordinates and moving speed of the operating device 100. A signal device 120 having a function of transmitting and an exercise device 130 that receives the operation command information transmitted from the computing device 200 and drives the operating device 100. Note that the image information transmitting device 110 may be disposed integrally with the operating device 100 or may be disposed independently of the operating device 100. As a transmission protocol of image information from the video information transmitting device 100 to the computing device 200 of the operating device 100, various conventionally known protocols can be used.

  The packet discard system 400 includes a function capable of transmitting and receiving the image information transmitted from the image information transmitting device 110, the state information transmitted from the signal device 120, the operation command information transmitted from the computing device 200, and the state information / operation command information. A function for referring to information for determining whether or not to transmit image information transmitted from the image information transmitting apparatus 110 and whether or not image information can be transmitted are determined using the state duration time alone or a combination thereof. A function and a function of discarding a packet which is a fragment of image information. The packet means a packet in the network layer of the OSI reference model. A typical example of a packet is an IP packet.

  The packet discard system 400 is arranged on a communication path between the operating device 100 and the computing device 200. In the example of FIG. 2, the operating device 100 and the packet discard system 400 are communicably connected via a first network 301, and the packet discard system 400 and the computing device 200 are communicably connected via a second network 302.

  The packet discard system 400 may operate with either hardware as a network device such as a router or gateway device, or software operating on an existing network device.

  The packet discarding system 400 discards image information that does not need to reach the computing device 200 among the image information transmitted from the image information transmitting device 110 using the information indicating the state of the operating device 100, and discards the packet information. By transmitting the image information that has not been transmitted from the system 400 to the computing device 200, the image information transmitted to the second network 302 is reduced.

  The packet discarding system 400 discards image information that induces misrecognition of the computing device 200 among the pieces of image information transmitted from the image information transmitting device 110 in units of packets, and discards them. By transmitting the image information that has not been transmitted from the system 400 to the computing device 200, it is possible to avoid a situation in which image information having a problem with image quality is used in an image recognition process performed by the computing device 200.

  The packet discard system 400 does not delete the image information by processing the image information itself, but discards the image information in units of packets by processing information indicating the state of the operating device 100. Accordingly, it is possible to reconstruct an image from image information fragmented in packet units, to analyze the contents and to perform compression processing again, and to avoid high-load processing that requires processing time.

  Hereinafter, embodiments of the present invention will be described in detail. In addition, the operating device 100 in the following embodiment is installed in the xyz space, and a portion including the image information transmitting device 110 moves in the xyz space. On the other hand, it is assumed that the work object, which is an object on which the operation device 100 performs operations such as photographing and operation, is fixedly installed in the xyz space. An example of an xyz space in which an example of an actuator and an example of a work object are installed is shown in FIG.

  In FIG. 3, as an example of the operating device 100, a camera-equipped vehicle 101 and a robot arm 102 with a camera are cited. In the case of the camera-equipped vehicle 101 shown in FIG. 3, the in-vehicle camera 111 corresponds to the image information transmitting device 110, the in-vehicle sensor 121 corresponds to the signal device 120, and the motor 131 corresponds to the exercise device 130. In the case of the robot arm 102 with a camera shown in FIG. 3, the web camera 112 attached to the arm corresponds to the image information transmission device 110, the axis sensor 122 corresponds to the signal device 120, and the actuator 132 corresponds to the exercise device 130. . In FIG. 3, the luggage 1 is arranged in the xyz space as a work object.

[First Embodiment]
In the first embodiment, the packet discard system 400 discards the image information transmitted from the image information transmitting apparatus 110 in units of packets based on the state information transmitted from the signal apparatus 120, and does not discard the image information. Is transmitted to the computing device 200.

  4 is a functional block diagram of the packet discard system according to the present embodiment, FIG. 5 is a sequence chart of the packet discard system, FIG. 6 is an operation flow of the image information deletion determination unit, and FIG. 7 is a correspondence stored in the storage unit. An example of the relationship information, FIG. 8 shows an operation flow of the image information deletion unit.

  As shown in FIG. 4, the packet discard system 400 includes an image information receiving unit 410, an image information deleting unit 420, a status information receiving unit 430, an image information deletion determining unit 440, a storage unit 450, and an image information transmission. Part 460.

  As shown in FIG. 5, the image information transmitting apparatus 110 transmits image information to the image information receiving unit 410, and the image information receiving unit 410 transmits the received image information to the image information deleting unit 420. On the other hand, the signal device 120 transmits the state information to the state information receiving unit 430, and the state information receiving unit 430 transmits the received state information to the image information deletion determination unit 440.

  In accordance with the operation flow shown in FIG. 6, the image information deletion determination unit 440 confirms the content of the received state information and determines whether or not image information can be transmitted in that state in a database stored in the storage unit 450. Refer to The image information deletion determination unit 440 determines whether or not image information can be transmitted based on a database of the correspondence relationship between the state information and the transmission / non-transmission of image information held in the storage unit 450, and the result is determined by the image information deletion unit. 420 is notified.

The state information, which is an element for determining the correspondence relationship, is not particularly defined by the position coordinates or acceleration of each axis of the six-axis robot, but here, the image information in the xyz space where the actuator 100 per unit time Δt is installed. Using the rate of change of the three-dimensional coordinates (x, y, z) of the transmitting apparatus 110, that is, the position change degree R _t = (Δx / Δt, Δy / Δt, Δz / Δt) at time _t , | R _t | The magnitude relationship of the defined threshold value | R _sh | is described as an example of an element for determining whether image information can be transmitted. If _Rt is included in the state information transmitted from the signal device 120, it is used, or from the coordinates and acceleration of the actuator 100 in the state information transmitted from the signal device 120. the image information deletion determining unit 440 may be utilized to calculate the R _t.

  In the present embodiment, the results of examining the correspondence relationship between the degree of change in position and image information in advance are stored in a database, and the database is described in accordance with a format in which the database is statically stored and used. Even a database that is sequentially updated may be used, or a format in which the information on the correspondence relationship is dynamically acquired from the outside and used.

  In accordance with the operation flow shown in FIG. 8, the image information deletion unit 420 discards the image information in units of packets based on the notification, and transmits the image information not discarded to the image information transmission unit 460. If the image information transmission availability notification is received at the same frequency as the image information or at a higher frequency than the image information, it will be determined whether to discard the image information packet with the same time stamp as the image information transmission availability notification. When the image information transmission availability notification is received at a lower frequency than the image information, it is determined whether or not to discard the image information packet according to the held image information transmission availability notification. The received image information transmission availability notification is retained until a new image information transmission availability notification is received or a predetermined retention time threshold is exceeded, and is used to determine whether to discard the image information packet. . The image information transmission unit 460 transmits the received image information to the calculation device 200.

  As described above, it is possible to reduce the image information flowing on the network without processing the image information itself, and at the same time, it is possible to reduce the amount of image information processed by the computing device 200 and to prevent erroneous recognition in the image recognition performed by the computing device 200. Risk can be reduced.

[Second Embodiment]
In the second embodiment, image information that the packet discard system 400 discards in units of image information packets transmitted from the image information transmitting device 110 based on the operation command information transmitted from the computing device 200, and has not been discarded. Is transmitted to the computing device 200.

  9 is a functional block diagram of the packet discard system according to the present embodiment, FIG. 10 is a sequence chart of the packet discard system, FIG. 11 is an operation flow of the image information deletion determination unit, and FIG. 12 is a correspondence stored in the storage unit. An example of relationship information is shown. The operation flow of the image information deletion unit is the same as that in FIG.

  As shown in FIG. 9, the packet discard system 400 includes an image information receiving unit 410, an image information deleting unit 420, a status information receiving unit 430, an image information deletion determining unit 440, a storage unit 450, and an image information transmission. Unit 460, operation command information reception unit 470, operation command information transmission unit 480, and status information transmission unit 490.

  As shown in FIG. 10, the image information transmitting apparatus 110 transmits image information to the image information receiving unit 410, and the image information receiving unit 410 transmits the received image information to the image information deleting unit 420. On the other hand, the computing device 200 transmits the operation command information to the operation command information receiving unit 470, and the operation command information receiving unit 470 transmits the received operation command information to the image information deletion determining unit 440 and the operation command information transmitting unit 480.

  In accordance with the operation flow shown in FIG. 11, the image information deletion determination unit 440 is stored in the storage unit 450 in order to confirm the content of the received operation command information and determine whether image information can be transmitted at the time of the operation command. Browse the database that you are using. The image information deletion determination unit 440 determines whether or not image information can be transmitted based on a database of correspondence between operation command information and the transmission / non-transmission of image information held in the storage unit 450, and the result is determined as image information deletion. Notification to the unit 420.

The operation command information, which is an element for determining the correspondence relationship, is not particularly defined by the target position coordinates and acceleration of each axis of the six-axis robot, but here, in the xyz space where the operation device 100 per unit time Δt is installed. Using the operation command instruction of the rate of change of the three-dimensional coordinates (x, y, z) of the image information transmitting apparatus 110, that is, the operation command speed Vt = (Δx / Δt, Δy / Δt, Δz / Δt) at time t, The magnitude relationship between V _t | and a predetermined threshold value | V _sh | is described as an example of an element that determines whether image information can be transmitted. Incidentally, if it contains V _t in the operation instruction information transmitted from the computing device 200 to use it, or the coordinates of the working device 100 in the operation instruction information transmitted from the computing device 200 Ya the image information deletion determining unit 440 from the acceleration may be used to calculate the V _t.

  Further, in the present embodiment, the results of examining the correspondence relationship between the operation command speed and the image information in advance are stored in a database, and the database is described according to a format in which the database is statically stored and used. Even a database that is sequentially updated may be used, or a format in which the information on the correspondence relationship is dynamically acquired from the outside and used.

  Similar to the first embodiment, the image information deletion unit 420 discards image information in units of packets based on the notification and transmits image information that has not been discarded, as image information, according to the operation flow shown in FIG. To the unit 460. If the image information transmission availability notification is received at the same frequency as the image information or at a higher frequency than the image information, it will be determined whether to discard the image information packet with the same time stamp as the image information transmission availability notification. When the image information transmission availability notification is received at a lower frequency than the image information, it is determined whether or not to discard the image information packet according to the held image information transmission availability notification. The received image information transmission availability notification is retained until a new image information transmission availability notification is received or a predetermined retention time threshold is exceeded, and is used to determine whether to discard the image information packet. . The image information transmission unit 460 and the motion command information transmission unit 480 respectively transmit the received image information to the calculation device 200 and the received motion command information to the exercise device 130 of the actuation device 100.

  As described above, it is possible to reduce the image information flowing on the network without processing the image information itself, and at the same time, it is possible to reduce the amount of image information to be processed by the calculation device 200 and to perform the erroneous recognition in the image recognition performed by the calculation device 200. It is also possible to reduce the risk of creating operation command information caused by misrecognition.

[Third Embodiment]
In the third embodiment, the packet discard system 400 transmits from the image information transmission device 110 based on the combination of the operation command information transmitted from the computing device 200 and the state information transmitted from the signal device 120 of the operation device 100. The image information to be discarded is discarded in units of packets, and the image information that has not been discarded is transmitted to the computing device 200.

  The functional blocks of the packet discard system according to the present embodiment are the same as those shown in FIG. FIG. 13 shows a sequence chart of the packet discard system, and FIG. 14 shows an operation flow of the image information deletion determination unit. The operation flow of the image information deletion unit is the same as that in FIG.

  As shown in FIG. 13, the image information transmitting apparatus 110 transmits image information to the image information receiving unit 410, and the image information receiving unit 410 transmits the received image information to the image information deleting unit 420. On the other hand, the computing device 200 transmits the operation command information to the operation command information receiving unit 470, and the operation command information receiving unit 470 transmits the received operation command information to the image information deletion determining unit 440 and the operation command information transmitting unit 480. On the other hand, the signal device 120 transmits the state information to the state information receiving unit 430, and the state information receiving unit 430 transmits the received state information to the image information deletion determining unit 440 and the state information transmitting unit 490.

  In accordance with the operation flow shown in FIG. 14, the image information deletion determination unit 440 confirms the content of the received operation command information or state information, and determines whether image information can be transmitted at the time of the operation command or state. A database stored in the storage unit 450 is referred to. The image information deletion determination unit 440 determines whether image information can be transmitted based on a database held in the storage unit 450 and notifies the image information deletion unit 420 of the result.

The operation command information or the state information that is an element for determining whether or not image information can be transmitted is not particularly defined, but here, the three-dimensional coordinates of the image information transmitting device 110 in the xyz space where the operating device 100 is installed per unit time Δt. The operation command instruction of the change rate of (x, y, z), that is, the operation command speed V _{t at} time _t = (Δx / Δt, Δy / Δt, Δz / Δt), or the operating device 100 per unit time Δt is installed. | V _t | using the change rate of the three-dimensional coordinates (x, y, z) in the xyz space, that is, the position change degree R _t = (Δx / Δt, Δy / Δt, Δz / Δt) at time _t. And a predetermined threshold value | V _sh | or a relationship between | R _t | and a predetermined threshold value | R _sh | as an example of an element for determining whether image information can be transmitted. doing. Examples of the correspondence information include those described in FIGS. 7 and 12 described above.

Regarding V _t , if V _t is included in the operation command information transmitted from the calculation device 200, it is used, or the operation device in the operation command information transmitted from the calculation device 200. the image information deletion determining unit 440 from the coordinates and the acceleration of 100 may be utilized to calculate the V _t. Similarly, regarding R _t , if R _t is included in the status information transmitted from the signal device 120, the R _t is used, or the operating device in the status information transmitted from the signal device 120. the image information deletion determining unit 440 from the coordinates and the acceleration of 100 may be utilized to calculate the R _t.

  In the present embodiment, the results of examining the correspondence between the motion command speed or position change degree and the image information in advance are stored in a database, and the database is described in accordance with a format in which the database is statically stored and used. However, a database that is sequentially updated may be used, or a format in which the correspondence information is dynamically acquired from the outside and used.

  Similar to the first and second embodiments, the image information deleting unit 420 discards the image information in units of packets based on the notification, and stores the image information that has not been discarded, in accordance with the operation flow shown in FIG. The image information is transmitted to the image information transmission unit 460. If the image information transmission availability notification is received at the same frequency as the image information or at a higher frequency than the image information, it will be determined whether to discard the image information packet with the same time stamp as the image information transmission availability notification. When the image information transmission availability notification is received at a lower frequency than the image information, it is determined whether or not to discard the image information packet according to the held image information transmission availability notification. The received image information transmission availability notification is retained until a new image information transmission availability notification is received or a predetermined retention time threshold is exceeded, and is used to determine whether to discard the image information packet. .

  The image information transmission unit 460, the operation command information transmission unit 480, and the state information transmission unit 490 respectively transmit the received image information and state information to the calculation device 200, and the received operation command information to the exercise device 130 of the operation device 100. .

  As described above, it is possible to reduce the image information flowing on the network without processing the image information itself, and at the same time, it is possible to reduce the amount of image information to be processed by the calculation device 200 and to perform the erroneous recognition in the image recognition performed by the calculation device 200. It is also possible to reduce the risk of creating operation command information caused by misrecognition.

[Fourth Embodiment]
In the fourth embodiment, the packet discard system 400 receives the image information transmitted from the image information transmitting device 110 based on the time during which the state of the state information transmitted from the signal device 120 of the operating device 100 continues. The image information discarded and not discarded is transmitted to the computer 200.

  The functional blocks of the packet discard system according to the present embodiment are the same as those shown in FIG. FIG. 15 shows a sequence chart of the packet discard system, FIG. 16 shows an operation flow of the image information deletion determination unit, and FIG. 17 shows an operation flow of the image information deletion unit.

  As shown in FIG. 15, the image information transmitting apparatus 110 transmits image information to the image information receiving unit 410, and the image information receiving unit 410 transmits the received image information to the image information deleting unit 420. The signal device 120 transmits the state information to the state information receiving unit 430, and the state information receiving unit 430 transmits the received state information to the image information deletion determination unit 440.

  The image information deletion determination unit 440 is stored in the storage unit 450 in order to confirm the content of the received state information and determine the transmission method of the image information in the state according to the operation flow shown in FIG. Browse the database. The image information deletion determination unit 440 determines a transmission method of the image information based on a database of correspondence relationship between the state information held in the storage unit 450 and whether or not the image information can be transmitted, and the result is the image information deletion unit. 420 is notified.

The state information, which is an element for determining the correspondence relationship, is not particularly defined by the position coordinates or acceleration of each axis of the six-axis robot, but here, the image information in the xyz space where the actuator 100 per unit time Δt is installed. Using the rate of change of the three-dimensional coordinates (x, y, z) of the transmitting apparatus 110, that is, the position change degree R _t = (Δx / Δt, Δy / Δt, Δz / Δt) at time _t , | R _t | The magnitude relationship of the defined threshold value | R _sh | is described as an example of an element for determining whether image information can be transmitted. If _Rt is included in the state information transmitted from the signal device 120, it is used, or image information is obtained from the coordinates and acceleration of the actuator 100 in the state information transmitted from the signal device 120. deletion determining unit 440 may be utilized to calculate the R _t.

  In the present embodiment, the results of examining the correspondence relationship between the degree of change in position and image information in advance are stored in a database, and the database is described in accordance with a format in which the database is statically stored and used. Even a database that is sequentially updated may be used, or a format in which the information on the correspondence relationship is dynamically acquired from the outside and used.

Furthermore, in the present embodiment, | _{R t} | a predetermined threshold | _{R sh '|} magnitude relationship between the _{| R t | <| R sh} ' | image information delete time _{T R} to continue in a state where the determination unit 440 measures, the threshold predetermined with T _R | is described as an example of a determining element whether transmission of the image information magnitude relation between _| T _Rsh.

In this embodiment, T _R and the results of examining the relationship in advance of the image information into a database, has been described in accordance with the format to use to store statically its database in the storage unit is sequentially updated Even if a database is used, a format in which the information on the correspondence relationship is dynamically acquired and used from the outside may be used.

  In accordance with the operation flow shown in FIG. 17, the image information deletion unit 420 determines a transmission method of image information based on the notification, and transmits the image information to the image information transmission unit 460 according to the determined method. When receiving the notification of the image information transmission method at the same frequency as the image information or higher than the image information, the transmission method is determined with respect to the packet of the image information having the same time stamp as the notification of the image information transmission method. Therefore, when the notification of the image information transmission method is received at a frequency lower than that of the image information, the transmission method is determined for the packet of the image information according to the held notification of the image information transmission method. The received notification of the image information transmission method is held until a new notification of the image information transmission method is received or until a predetermined retention time threshold is exceeded, and is used to determine the transmission method for the image information packet. Use. In this embodiment, the method 1 is transmitted without discarding the packet and the method 2 is discarded with the image information packet discarded. However, the number and contents of the method are not limited.

  The image information transmission unit 460 transmits the received image information to the calculation device 200.

  As described above, the image information flowing on the network can be reduced without processing the image information itself, and at the same time, the amount of image information processed by the computing device 200 can be reduced.

[Fifth Embodiment]
In the fifth embodiment, the packet discard system 400 converts the image information transmitted from the image information transmitting apparatus 110 in units of packets based on the time during which the operation state according to the operation command information transmitted from the computing apparatus 200 continues. The image information discarded and not discarded is transmitted to the computer 200.

  The functional blocks of the packet discard system according to the present embodiment are the same as those shown in FIG. FIG. 18 shows a sequence chart of the packet discard system, and FIG. 19 shows an operation flow of the image information deletion determination unit. The operation flow of the image information deletion unit is the same as that shown in FIG.

  The image information transmitting apparatus 110 transmits image information to the image information receiving unit 410 illustrated in FIG. 9, and the image information receiving unit 410 transmits the received image information to the image information deleting unit 420. On the other hand, the computing device 200 transmits the operation command information to the operation command information receiving unit 470, and the operation command information receiving unit 470 transmits the received operation command information to the image information deletion determination unit 440.

  In accordance with the operation flow shown in FIG. 19, the image information deletion determination unit 440 is stored in the storage unit 450 in order to confirm the content of the received operation command information and determine the transmission method of the image information at the time of the operation command. Browse the database that you are using. The image information deletion determination unit 440 determines the image information transmission method based on the correspondence database of the operation command information and the image information transmission method held in the storage unit 450, and the result is the image information deletion. Notification to the unit 420.

The operation command information, which is an element for determining the correspondence relationship, is not particularly defined by the target position coordinates and acceleration of each axis of the six-axis robot, but here, in the xyz space where the operation device 100 per unit time Δt is installed. Using the operation command instruction of the rate of change of the three-dimensional coordinates (x, y, z) of the image information transmitting apparatus 110, that is, the operation command speed Vt = (Δx / Δt, Δy / Δt, Δz / Δt) at time t, The magnitude relationship between V _t | and a predetermined threshold value | V _sh | is described as an example of an element that determines whether image information can be transmitted. If it contains V _t in the operation instruction information transmitted from the computing device 200 to use it, or the coordinates and the acceleration of the actuator 100 in the operation instruction information transmitted from the computing device 200 the image information deletion determining unit 440 may be utilized to calculate the V _t.

  In the present embodiment, the result of examining the correspondence between the operation command speed and the image information in advance is described as a database, and the database is described in accordance with a format in which the database is statically stored and used. Even if a database to be updated is used, a format in which the information on the correspondence relationship is dynamically acquired and used from the outside may be used.

Further, in the present embodiment, the image information is deleted from the time T _{V in} which the magnitude relationship between | V _t | and the predetermined threshold value | V _{sh ′} | is | V _t | <| V _{sh ′} | determination section measures, the threshold was previously defined as T _V | is described as an example of a determining element whether transmission of the image information the size relationship of _| T _Vsh.

In this embodiment, a database of results of previously examined the correspondence between the T _V and image information, it has been described in accordance with the format to use to store statically its database in the storage unit is sequentially updated Even if a database is used, a format in which the information on the correspondence relationship is dynamically acquired and used from the outside may be used.

  Similar to the fourth embodiment, the image information deletion unit 420 determines the transmission method of the image information based on the notification according to the operation flow shown in FIG. 17, and transmits the image information according to the determined method. To the unit 460. When receiving the notification of the image information transmission method at the same frequency as the image information or higher than the image information, the transmission method is determined with respect to the packet of the image information having the same time stamp as the notification of the image information transmission method. Therefore, when the notification of the image information transmission method is received at a frequency lower than that of the image information, the transmission method is determined for the packet of the image information according to the held notification of the image information transmission method. The received notification of the image information transmission method is held until a new notification of the image information transmission method is received or until a predetermined retention time threshold is exceeded, and is used to determine the transmission method for the image information packet. Use. In this embodiment, the method 1 is transmitted without discarding the packet and the method 2 is discarded with the image information packet discarded. However, the number and contents of the method are not limited.

  The image information transmission unit 460 transmits the received image information to the calculation device 200.

  As described above, the image information flowing on the network can be reduced without processing the image information itself, and at the same time, the amount of image information processed by the computing device 200 can be reduced.

[Sixth Embodiment]
In the sixth embodiment, the packet discard system 400 continues the time during which the operation state according to the operation command information transmitted from the computing device 200 continues and the state information transmitted from the signal device 120 of the operation device 100. The image information transmitted from the image information transmitting device 110 is discarded in units of packets based on the time combination, and the image information that has not been discarded is transmitted to the computing device 200.

  The functional blocks of the packet discard system according to the present embodiment are the same as those shown in FIG. FIG. 20 shows a sequence chart of the packet discard system, and FIG. 21 shows an operation flow of the image information deletion determination unit. The operation flow of the image information deletion unit is the same as that shown in FIG.

  As shown in FIG. 20, the image information transmitting apparatus 110 transmits image information to the image information receiving unit 410, and the image information receiving unit 410 transmits the received image information to the image information deleting unit 420. On the other hand, the computing device 200 transmits the operation command information to the operation command information receiving unit 470, and the operation command information receiving unit 470 transmits the received operation command information to the image information deletion determination unit 440.

  In accordance with the operation flow shown in FIG. 21, the image information deletion determination unit 440 confirms the contents of the received operation command information or state information, and stores the image information deletion determination unit 440 in order to determine the image information transmission method at the time of the operation command or state. The database stored in the unit 450 is referred to. The image information deletion determination unit 440 determines a transmission method of image information based on a database held in the storage unit 450 and notifies the image information deletion unit 420 of the result.

The operation command information or the state information that is an element for determining whether or not image information can be transmitted is not particularly defined, but here, the three-dimensional coordinates of the image information transmitting device 110 in the xyz space where the operating device 100 is installed per unit time Δt. The operation command instruction of the change rate of (x, y, z), that is, the operation command speed V _{t at} time _t = (Δx / Δt, Δy / Δt, Δz / Δt), or the operating device 100 per unit time Δt is installed. | V _t | using the change rate of the three-dimensional coordinates (x, y, z) in the xyz space, that is, the position change degree R _t = (Δx / Δt, Δy / Δt, Δz / Δt) at time _t. And a predetermined threshold value | V _sh | or a relationship between | R _t | and a predetermined threshold value | R _sh | It is described as an example of elementary.

Regarding V _t , if V _t is included in the operation command information transmitted from the calculation device 200, it is used, or the operation device in the operation command information transmitted from the calculation device 200. the image information deletion determining unit 440 from the coordinates and the acceleration of 100 may be utilized to calculate the V _t. Further, regarding R _t , if R _t is included in the state information transmitted from the signal device 200, the R _t is used, or the operating device 100 in the state information transmitted from the signal device 200. the image information deletion determining unit 440 from the coordinates and the acceleration is may be utilized to calculate the R _t.

  In the present embodiment, the results of examining the correspondence between the motion command speed or position change degree and the image information in advance are stored in a database, and the database is described in accordance with a format in which the database is statically stored and used. However, a database that is sequentially updated may be used, or a format in which the correspondence information is dynamically acquired from the outside and used.

Furthermore, a predetermined time T _V or | R _t | in which the magnitude relationship between | V _t | and a predetermined threshold value | V _{sh ′} | is | V _t | <| V _{sh ′} | threshold | _{R sh '|} magnitude relationship between the _{| R t | <| R sh} ' | time _{T R} to continue in a state where the measured image information deletion determining unit 440, a predetermined and _{T V} or _{T R} The magnitude relationship with the threshold value | T _Vsh | or | T _Rsh | is described as an example of an image information transmission method or an element for determining whether transmission is possible.

In this embodiment, a database of results of examining the relationship in advance of T _V or T _R and image information, has been described in accordance with the format to use to store statically its database in the storage unit 450 Alternatively, a database that is sequentially updated may be used, or a format in which the information on the correspondence relationship is dynamically acquired from the outside and used.

  Similar to the fourth and fifth embodiments, the image information deletion unit 420 determines the transmission method or the transmission permission of the image information based on the notification according to the operation flow shown in FIG. The image information is transmitted to the image information transmission unit 460. When receiving the notification of the image information transmission method at the same frequency as the image information or higher than the image information, the transmission method is determined with respect to the packet of the image information having the same time stamp as the notification of the image information transmission method. Therefore, when the notification of the image information transmission method is received at a frequency lower than that of the image information, the transmission method is determined for the packet of the image information according to the held notification of the image information transmission method. The received notification of the image information transmission method is held until a new notification of the image information transmission method is received or until a predetermined retention time threshold is exceeded, and is used to determine the transmission method for the image information packet. Use. In the present embodiment, the method 1 is transmitted without discarding the packet and the method 2 is discarded with the image information packet discarded. However, the number and contents of the methods are not limited.

  The image information transmission unit 460 transmits the received image information to the calculation device 200.

  As described above, the image information flowing on the network can be reduced without processing the image information itself, and at the same time, the amount of image information processed by the computing device 200 can be reduced.

  As mentioned above, although embodiment of this invention was explained in full detail, this invention is not limited to this. For example, in the above-described embodiment, the case where position information (coordinate information) and acceleration information are used as state information indicating the operation state of the actuator 100 when determining image information deletion has been exemplified. The invention can be applied. Similarly, in the image information deletion determination, the case where target position information (coordinate information) and acceleration information are used as the operation command information transmitted from the calculation device 200 to the operation device 100 is illustrated. The invention can be applied.

DESCRIPTION OF SYMBOLS 100 ... Actuator 110 ... Image information transmitter 120 ... Signal apparatus 130 ... Exercise apparatus 200 ... Calculation apparatus 300, 301, 302 ... Network 400 ... Packet discard system 410 ... Image information receiving part 420 ... Image information deletion part 430 ... Status information Receiving unit 440 ... Image information deletion determining unit 450 ... Storage unit 460 ... Image information transmitting unit 470 ... Operation command information receiving unit 480 ... Operation command information transmitting unit 490 ... Status information transmitting unit

Claims (6)

In a network system comprising an operating device having an image information transmitting device that transmits image information and a computing device that performs image processing based on image information acquired from the operating device via a network, the operating device and the computing device A packet discard system arranged on a communication path,
Correspondence between the image information and any one or combination of state information indicating its own operation state transmitted from the operating device to the computing device and operation command information transmitted from the computing device to the operating device Based on the relationship, a packet discarding unit that determines whether to discard the image information transmitted from the operating device to the computing device in units of packets and discards the image information in units of packets based on the determination result. A packet discard system characterized by this. The packet discarding means is based on one or a combination of the duration of the operating state of the operating device calculated from the state information and the continuous information of the operating state of the operating device calculated from the operation command information. The packet discard system according to claim 1, wherein image information is discarded in units of packets. 3. The packet discarding unit calculates speed information of the operating device based on coordinate information and acceleration information included in the state information, and calculates a duration of an operation state based on the speed information. The described packet discard system. The packet discarding unit calculates speed information of the operating device based on target coordinate information and acceleration information included in the operation command information, and calculates a duration of an operation state based on the speed information. Item 4. The packet discard system according to Item 2 or 3. The packet discarding means includes the speed information of the operating device calculated from the coordinate information and acceleration information included in the state information and the speed information of the operating device calculated from the target coordinates and acceleration included in the operation command information. The packet discard system according to any one of claims 1 to 4, wherein the image information is discarded in units of packets based on any one or a combination thereof. In a network system comprising an operating device having an image information transmitting device that transmits image information and a computing device that performs image processing based on image information acquired from the operating device via a network, the operating device and the computing device A packet discard system in which a packet discard system arranged on a communication path discards a packet related to image information,
Correspondence between the image information and any one or combination of state information indicating its own operation state transmitted from the operating device to the computing device and operation command information transmitted from the computing device to the operating device Determining, on a packet basis, whether to discard the image information transmitted from the actuating device to the computing device based on a relationship;
And a step of discarding the image information in units of packets based on the determination result.

Images