Device and method for testing end-to-end time delay of man-machine cooperative control system

Abstract

The invention relates to the field of robots, and provides an end-to-end time delay testing device and method for a man-machine cooperative control system, and the device comprises the man-machine cooperative control system which comprises an operation end, an execution end, and a communication link for connecting the operation end and the execution end; the scale plate is arranged on the back surfaces of the operation end and the execution end and is used for recording displacement changes; the high-speed camera is arranged in front of the man-machine cooperative control system and is used for shooting the operation process of the operation end and the execution end and ensuring that the scale plate, the handle of the operation end and the tail end of the execution device of the execution end are observed in a shot picture at the same time; and the analysis module is used for analyzing the picture shot by the high-speed camera, and recording and calculating the frame number difference when the operation end and the execution end reach the highest point, so as to obtain the end-to-end time delay of the man-machine cooperative control system. According to the invention, the problem of inaccurate end-to-end time delay test of a man-machine cooperative control system in the prior art is solved, and the time delay is accurately measured in a visual manner.

Description

Technical Field

[0001] The present invention relates to the field of time-delay robots, and in particular to an end-to-end delay testing device and method for a human-machine collaborative control system. Background Art

[0002] Robot teleoperation technology is a technology that allows operators to remotely control robots through the Internet or other communication means to achieve long-distance operations. This technology mainly consists of three parts: the operator end, the communication link and the robot end. The operator end provides an interface for the operator to send instructions, which can include a handle, keyboard or virtual reality device. The communication link is the information transmission channel between the operator end and the robot end, which can be a wired or wireless connection, requiring low latency and high reliability. The robot end is responsible for receiving instructions and performing corresponding operations, such as moving, grabbing or performing more complex tasks.

[0003] In robot teleoperation technology, latency testing is one of the key indicators to measure system performance. Existing latency testing methods mainly include round-trip latency testing, one-way latency testing, synchronization time testing, video stream latency testing, and custom application testing. Round-trip latency testing evaluates network latency by sending data packets and recording their round-trip time, which can be achieved using simple tools such as the ping command. One-way latency testing calculates the time difference from the issuance of instructions to their execution by recording timestamps on the operator and robot ends. Synchronization time testing uses NTP (Network Time Protocol) to ensure that the time on both ends is consistent, and then calculates latency. Video stream latency testing evaluates the latency of visual feedback by analyzing the timestamp difference of video frames. Custom application testing, on the other hand, involves developing a dedicated program to simulate teleoperation instructions to record and analyze latency.

[0004] Although existing delay testing methods can evaluate the performance of robot teleoperation systems to a certain extent, they still have some shortcomings. Summary of the invention

[0005] The present invention provides an end-to-end delay test device and method for a human-machine collaborative control system, which solves the problem of inaccurate end-to-end delay test of a human-machine collaborative control system in the prior art and realizes accurate measurement of delay in an intuitive and visual manner.

[0006] The present invention provides an end-to-end delay test device for a human-machine collaborative control system, comprising the following modules: A human-machine collaborative control system, including an operation end, an execution end, and a communication link connecting the two; A scale plate, which is arranged on the back of the operating end and the execution end, is used to record the displacement change; A high-speed camera is arranged in front of the human-machine collaborative control system, and is used to shoot the operation process of the operating end and the execution end, and ensure that the scale plate, the operating end handle and the end of the execution device of the execution end are observed in the shooting picture at the same time; The analysis module is used to analyze the photos taken by the high-speed camera, record and calculate the frame difference when the operation end and the execution end reach the highest point, so as to obtain the end-to-end delay of the human-machine collaborative control system.

[0007] According to the present invention, a human-machine collaborative control system end-to-end delay test device and a clock synchronizer are provided, which are used to synchronize the time of two high-speed cameras during remote measurement.

[0008] According to an end-to-end delay testing device for a human-machine collaborative control system provided by the present invention, the frame rate of the high-speed camera is not less than 1000 frames per second, and the single-frame time interval is 1 millisecond.

[0009] According to the end-to-end delay test device of a human-machine collaborative control system provided by the present invention, the grid density of the scale plate is at the millimeter level and is used as a background size reference.

[0010] According to an end-to-end delay test device for a human-machine collaborative control system provided by the present invention, the operating end is controlled by a handheld controller, and the execution end is a controlled mechanical device.

[0011] The present invention also provides a method for testing end-to-end delay of a human-machine collaborative control system based on the above-mentioned device for testing end-to-end delay of a human-machine collaborative control system, which comprises the following steps when the operating end and the execution end are tested at the same location: Arrange a dimension measuring table on the back of the human-machine collaborative control system; Use a tripod to set up a high-speed camera and adjust the camera image to simultaneously observe the dimension measuring table, the operating end handle and the execution end; Start shooting with a high-speed camera, and at the same time, hold the operation terminal and perform control operations first upward and then downward until the execution terminal completes the corresponding operation and stops shooting; Analyze the photos taken by the high-speed camera frame by frame, and record the photo frame number m1 of the highest point reached by the operating end hand and the photo frame number m2 of the highest point reached by the execution end robotic arm; The difference between m2 and m1 is obtained as the end-to-end delay of the human-machine collaborative control system.

[0012] The present invention also provides another method for testing end-to-end delay of a human-machine collaborative control system based on the above-mentioned end-to-end delay testing device of the human-machine collaborative control system, which comprises the following steps when the operation end and the execution end are tested in different places: A dimension measuring table is arranged on the back of the operation end and the execution end of the human-machine collaborative control system; Use a tripod to set up a high-speed camera in front of the operating end and the execution end respectively, and adjust the camera screen to simultaneously observe the respective dimension measurement table, the operating end handle and the execution end; Start the clock synchronizer to synchronize the clocks of the two high-speed cameras; Turn on two high-speed cameras to shoot, and at the same time hold the operation terminal to control it upwards and then downwards until the execution terminal completes the corresponding operation and stops shooting; The photos taken by the two high-speed cameras are analyzed frame by frame, and the photo frame number m1 of the highest point reached by the operating end hand and the photo frame number m2 of the highest point reached by the execution end robotic arm are recorded respectively; The difference between m2 and m1 is obtained as the end-to-end delay of the system under remote control.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, an end-to-end delay test method for a human-machine collaborative control system as described above is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the end-to-end delay testing method of the human-machine collaborative control system as described in any one of the above-mentioned methods is implemented.

[0015] The present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements any of the above-mentioned end-to-end delay testing methods for a human-machine collaborative control system.

[0016] The present invention provides an end-to-end delay test device and method for a human-machine collaborative control system, which includes the following beneficial effects: by combining a human-machine collaborative control system, a scale plate, a high-speed camera and an analysis module, the end-to-end delay test device can accurately measure and record the delay between the operating end and the execution end. The scale plate effectively records the displacement change, and the high-speed camera captures the entire operation process to ensure that key components are within the shooting range. The shooting data is processed by the analysis module to accurately calculate the end-to-end delay, which provides strong support for the performance evaluation and optimization of the human-machine collaborative control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1It is a structural schematic diagram of the end-to-end delay testing device of the human-machine collaborative control system provided by the present invention.

[0019] Figure 2 It is a flow chart of the end-to-end delay testing method of the human-machine collaborative control system at the same location provided by the present invention.

[0020] Figure 3 This is a schematic diagram of a time delay test at the same location provided by the present invention.

[0021] Figure 4 It is a flow chart of the end-to-end delay testing method of the remote human-machine collaborative control system provided by the present invention.

[0022] Figure 5 It is a schematic diagram of the remote time delay test provided by the present invention.

[0023] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] The present invention provides an end-to-end delay test method for a human-machine collaborative control system, which belongs to the field of cross-integration of robotics, remote control technology and network communication technology. Specifically, this technical field covers multiple sub-fields such as robotic control systems, remote operation interface design, signal transmission and processing, network protocol optimization, and real-time system performance evaluation. At the same time, this technical field also involves the basic theory of network communication, such as optimization of data packet transmission, network delay, jitter and packet loss rate, and how to achieve accurate transmission of remote instructions under conditions of high bandwidth and low latency. In addition, the research on delay test methods is also closely related to fields such as real-time operating systems, embedded systems, and human-computer interaction technologies. It aims to improve the application performance and reliability of remote operation systems in key fields such as aerospace, medical surgery, disaster relief, and deep-sea exploration through accurate delay measurement and optimization.

[0026] Robot teleoperation technology allows operators to remotely control robots through the Internet or other communication means to achieve long-distance operations. This technology mainly consists of three parts: the operation end, the communication link and the robot end. The operation end provides an interface for the operator to send instructions, such as a handle, keyboard or virtual reality device. The communication link is the information transmission channel between the operation end and the robot end, which can be wired or wireless, requiring low latency and high reliability. The robot end receives instructions and executes them, such as moving, grasping or performing complex tasks. Teleoperation technology faces challenges, such as signal delays and interruptions, which need to be optimized by predictive algorithms, coding technology and adaptive control. In the fields of medical care, detection and hazardous environments, teleoperation technology has greatly expanded the application scope of robots and improved operation efficiency and safety. With the development of technologies such as 5G and artificial intelligence, teleoperation will be more accurate and real-time, providing stronger support for remote operations.

[0027] The delay test methods in robot teleoperation mainly include round-trip delay test, one-way delay test, synchronization time test, video stream delay test and custom application test. The round-trip delay test evaluates network delay by sending data packets and recording their round-trip time, which can be achieved using the ping command. The one-way delay test calculates the time difference from the issuance of instructions to their execution by recording timestamps on the operation end and the robot end. The synchronization time test uses NTP to ensure that the time at both ends is consistent, and then calculates the delay. The video stream delay test evaluates the delay of visual feedback by analyzing the timestamp difference of video frames. The custom application test is to develop a dedicated program to simulate teleoperation instructions to record and analyze delays.

[0028] Existing delay test methods can evaluate the performance of robot teleoperation systems to a certain extent, but they still have some shortcomings. For example, round-trip delay tests and one-way delay tests may be affected by network communication conditions, resulting in inaccurate measurement results. Although the synchronous time test can ensure that the time at both ends is consistent, in remote control scenarios, there may still be certain errors due to factors such as network delay and jitter. Although the video stream delay test can intuitively reflect the delay of visual feedback, it is limited by the video frame rate and processing speed, and its accuracy and real-time performance may not meet the requirements of certain high-precision applications. Although the custom application test is highly flexible, it needs to be developed for a specific teleoperation system, and its versatility and ease of use are poor. Therefore, how to provide a method that is not affected by the system itself and can accurately measure the end-to-end delay of the entire control system has become an important issue that the industry is currently working on.

[0029] The main innovative features of the present invention are as follows: 1. It can directly measure the end-to-end delay of the computing system to avoid missing or difficult-to-measure links; 2. It can measure the end-to-end delay of remotely controlled systems; 3. Based on third-party observation results, it does not cause any impact on the human-machine collaborative control system itself; 4. High accuracy, the delay measurement results can reach ms level.

[0030] Combine the following Figure 1-Figure 6 Embodiments of the present invention are described in detail.

[0031] Figure 1 : is a schematic diagram of the structure of the end-to-end delay test device for the human-machine collaborative control system provided by the present invention, such as Figure 1 As shown, the device includes the following modules: The human-machine collaborative control system 110 includes an operation terminal, an execution terminal, and a communication link connecting the two; The scale plate 120 is arranged on the back of the operating end and the execution end, and is used to record the displacement change; A high-speed camera 130 is arranged in front of the human-machine collaborative control system to shoot the operation process of the operation end and the execution end, and ensure that the scale plate, the operation end handle and the end of the execution device of the execution end are observed in the shooting picture at the same time; The analysis module 140 is used to analyze the photos taken by the high-speed camera, record and calculate the frame difference when the operating end and the execution end reach the highest point, so as to obtain the end-to-end delay of the human-machine collaborative control system.

[0032] According to the present invention, a human-machine collaborative control system end-to-end delay test device, a clock synchronizer 150, is provided for synchronizing the time of two high-speed cameras during remote measurement.

[0033] According to an end-to-end delay test device for a human-machine collaborative control system provided by the present invention, the frame rate of the high-speed camera 130 is not less than 1000 frames per second, and the single-frame time interval is 1 millisecond.

[0034] According to an end-to-end delay test device for a human-machine collaborative control system provided by the present invention, the grid density of the scale plate 120 is at the millimeter level, which is used as a background size reference.

[0035] According to an end-to-end delay test device for a human-machine collaborative control system provided by the present invention, the operating end is controlled by a handheld controller, and the execution end is a controlled mechanical device.

[0036] Specifically, the device consists of the following: 1. Dimension measurement table: a scale plate with a grid density of mm; used as a background dimension reference, mainly to record the displacement changes of the control end and the execution end, and to record and capture the highest point; 2. Execution end: The controlled end robot (or similar controlled mechanical device) moves at a speed exceeding 1m / s. That is, the speed is >1mm / ms; 3. Operation terminal: the operation terminal controlled by a handheld controller; 4. High-speed camera: frame rate not less than 1000 frames, single frame time interval 1ms; 5. Clock synchronizer: It can use satellite synchronized timing device with an accuracy of 10ns.

[0037] The end-to-end delay testing method for the human-machine collaborative control system provided by the present invention is described below. The end-to-end delay testing method for the human-machine collaborative control system described below and the end-to-end delay testing device for the human-machine collaborative control system described above can be referenced to each other.

[0038] like Figure 2 The figure shows a flow chart of an end-to-end delay test method of a human-machine collaborative control system provided by the present invention in the case of the same location, and when the operation end and the execution end are in the same location, the method includes: S210. Arrange a dimension measurement table on the back of the human-machine collaborative control system.

[0039] S220. Use a tripod to set up a high-speed camera, and adjust the camera image to simultaneously observe the dimension measuring table, the operating end handle, and the execution end.

[0040] S230, start shooting with a high-speed camera, and at the same time, perform a control operation of first moving upward and then downward on the handheld operation terminal, until the execution terminal completes the corresponding operation and stops shooting.

[0041] S240, analyzing the photos taken by the high-speed camera frame by frame, recording the photo frame number m1 of the highest point reached by the operating end hand and the photo frame number m2 of the highest point reached by the execution end robot arm.

[0042] S250. Obtain the difference between m2 and m1 as the end-to-end delay of the human-machine collaborative control system.

[0043] Specifically, if Figure 3 The following is a test diagram when the operation end and the execution end are in the same location. The same location test steps are as follows: Step 1: Complete the normal construction of the human-machine coordinated control system; Step 2: Arrange the mm scale plate on the back of the human-machine collaborative control system; Step 3: Use a tripod to set up a high-speed camera in front of the human-machine collaborative control system, adjust the camera screen so that the mm scale plate, the control end handle and the robotic arm execution end can be observed in the screen at the same time, and prepare for shooting; Step 4: Start shooting with a high-speed camera. At the same time, the handheld operation terminal performs an upward and then downward control operation to fully record the execution terminal's corresponding operations, ending the operation and stopping shooting.

[0044] Step 5: Analyze the photos taken by the high-speed camera frame by frame, and record the photo frame number m1 when the hand of the execution end reaches the highest point H2, and the frame number m2 when the robotic arm reaches the highest point H1; Step 6: Calculate the value of m2-m1, which is the end-to-end delay of the system.

[0045] The present invention also provides another method for testing end-to-end delay of a human-machine collaborative control system based on the above-mentioned device for testing end-to-end delay of a human-machine collaborative control system. Figure 4 The figure shows a flow chart of an end-to-end delay test method for a human-machine collaborative control system provided by the present invention in the case of the same location. When the operation end and the execution end are tested in different locations, the method includes the following steps: S410, arranging a dimension measurement table on the back of the operation end and the execution end of the human-machine collaborative control system; S420, using a tripod to set up a high-speed camera in front of the operating end and the execution end respectively, and adjusting the camera screen to simultaneously observe the respective dimension measurement tables, the operating end handle and the execution end; S430, starting a clock synchronizer to synchronize the clocks of two high-speed cameras; S440, start two high-speed cameras to shoot, and at the same time, hold the operation end to perform control operations first upward and then downward, until the execution end completes the corresponding operation and stops shooting; S450, analyzing the photos taken by the two high-speed cameras frame by frame, and recording the photo frame number m1 of the highest point reached by the operating end hand and the photo frame number m2 of the highest point reached by the execution end mechanical arm respectively; S460: Obtain the difference between m2 and m1 as the end-to-end delay of the system under remote control.

[0046] Specifically, Figure 5 The figure shows a test schematic diagram when the operation end and the execution end are in different locations. The steps of the different location test are as follows: Step 1: Complete the connection and construction of the human-machine collaborative control system in the two locations; Step 2: Arrange a mm scale plate on the back of the operation end and the execution end of the human-machine collaborative control system respectively; Step 3: Use a tripod to set up a high-speed camera in front of the operation end and the execution end of the human-machine collaborative control system, and adjust the camera screen so that the mm scale plate, the control end handle and the execution end of the robotic arm can be observed in the screen at the same time; Step 4: Start the clock synchronizer to synchronize the clocks of the two high-speed cameras and prepare for shooting; Step 5: Start shooting with a high-speed camera, and at the same time, hold the operating terminal to perform control operations first upward and then downward. After the execution terminal has completed the corresponding operations and the recording is complete, end the operation and stop shooting.

[0047] Step 6: Analyze the photos taken by the high-speed camera frame by frame, and record the photo frame number m1 when the hand of the execution end reaches the highest point H2, and the frame number m2 when the robotic arm reaches the highest point H1; Step 7: Calculate the value of m2-m1, which is the end-to-end delay of the system.

[0048] By providing a human-machine collaborative control end-to-end delay measurement device and method that is not affected by the system itself, the present invention has the following advantages and effects: it can accurately measure the end-to-end delay of the entire control system from the time when human instructions are given to the end execution to complete the response of the entire system.

[0049] Figure 6 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 6 As shown, the electronic device may include: a processor (processor) 610, a communication interface (Communications Interface) 620, a memory (memory) 630 and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The processor 610 can call the logic instructions in the memory 630 to execute the end-to-end delay test method of the human-machine collaborative control system, the method comprising: arranging a dimension measurement table on the back of the human-machine collaborative control system; using a tripod to set up a high-speed camera, and adjusting the camera screen to simultaneously observe the dimension measurement table, the operating end handle and the execution end; starting high-speed camera shooting, while holding the operating end to perform control operations first upward and then downward, until the execution end completes the corresponding operation and stops shooting; analyzing the photos taken by the high-speed camera frame by frame, recording the photo frame number m1 of the highest point reached by the operating end hand and the photo frame number m2 of the highest point reached by the execution end mechanical arm; obtaining the difference between m2 and m1 as the end-to-end delay of the human-machine collaborative control system. Or A dimension measuring table is arranged on the back of the operation end and the execution end of the human-machine collaborative control system respectively; a high-speed camera is set up in front of the operation end and the execution end respectively using a tripod, and the camera screen is adjusted to simultaneously observe the respective dimension measuring tables, the operation end handle and the execution end; the clock synchronizer is started to synchronize the clocks of the two high-speed cameras; the two high-speed cameras are turned on to shoot, and the operation end is held handheld to perform control operations first upward and then downward until the execution end completes the corresponding operation and stops shooting; the photos taken by the two high-speed cameras are analyzed frame by frame, and the photo frames m1 of the highest point reached by the operation end hand and the photo frames m2 of the highest point reached by the execution end robotic arm are recorded respectively; the difference between m2 and m1 is obtained as the end-to-end delay of the system under remote control.

[0050] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0051] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the end-to-end delay test method of the human-machine collaborative control system provided by the above methods, which includes: arranging a dimension measurement table on the back of the human-machine collaborative control system; using a tripod to set up a high-speed camera, and adjusting the camera screen to simultaneously observe the dimension measurement table, the operating end handle and the execution end; starting high-speed camera shooting, while holding the operating end to perform control operations first upward and then downward, until the execution end completes the corresponding operation and stops shooting; analyzing the photos taken by the high-speed camera frame by frame, recording the photo frame number m1 of the highest point reached by the operating end hand and the photo frame number m2 of the highest point reached by the execution end robotic arm; obtaining the difference between m2 and m1 as the end-to-end delay of the human-machine collaborative control system. Or A dimension measuring table is arranged on the back of the operation end and the execution end of the human-machine collaborative control system respectively; a high-speed camera is set up in front of the operation end and the execution end respectively using a tripod, and the camera screen is adjusted to simultaneously observe the respective dimension measuring tables, the operation end handle and the execution end; the clock synchronizer is started to synchronize the clocks of the two high-speed cameras; the two high-speed cameras are turned on to shoot, and the operation end is held handheld to perform control operations first upward and then downward until the execution end completes the corresponding operation and stops shooting; the photos taken by the two high-speed cameras are analyzed frame by frame, and the photo frames m1 of the highest point reached by the operation end hand and the photo frames m2 of the highest point reached by the execution end robotic arm are recorded respectively; the difference between m2 and m1 is obtained as the end-to-end delay of the system under remote control.

[0052] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the end-to-end delay test method of the human-machine collaborative control system provided by the above methods. The method includes: arranging a dimension measurement table on the back of the human-machine collaborative control system; using a tripod to set up a high-speed camera, and adjusting the camera screen to simultaneously observe the dimension measurement table, the operating end handle and the execution end; starting to shoot with a high-speed camera, while holding the operating end to perform control operations first upward and then downward, until the execution end completes the corresponding operation and stops shooting; analyzing the photos taken by the high-speed camera frame by frame, recording the photo frame number m1 of the highest point reached by the operating end hand and the photo frame number m2 of the highest point reached by the execution end robotic arm; obtaining the difference between m2 and m1 as the end-to-end delay of the human-machine collaborative control system. Or A dimension measuring table is arranged on the back of the operation end and the execution end of the human-machine collaborative control system respectively; a high-speed camera is set up in front of the operation end and the execution end respectively using a tripod, and the camera screen is adjusted to simultaneously observe the respective dimension measuring tables, the operation end handle and the execution end; the clock synchronizer is started to synchronize the clocks of the two high-speed cameras; the two high-speed cameras are turned on to shoot, and the operation end is held handheld to perform control operations first upward and then downward until the execution end completes the corresponding operation and stops shooting; the photos taken by the two high-speed cameras are analyzed frame by frame, and the photo frames m1 of the highest point reached by the operation end hand and the photo frames m2 of the highest point reached by the execution end robotic arm are recorded respectively; the difference between m2 and m1 is obtained as the end-to-end delay of the system under remote control.

[0053] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0054] Through the description of the above implementation modes, those skilled in the art can clearly understand that each implementation mode can be implemented by means of software plus a necessary general hardware platform, or of course by hardware. Based on such an understanding, the above technical solution can essentially or in other words be embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A human-machine collaborative control system end-to-end delay test device, characterized in that: include: A human-machine collaborative control system, including an operation end, an execution end, and a communication link connecting the two; A scale plate, which is arranged on the back of the operating end and the execution end, is used to record the displacement change; A high-speed camera is arranged in front of the human-machine collaborative control system, and is used to shoot the operation process of the operating end and the execution end, and ensure that the scale plate, the operating end handle and the end of the execution device of the execution end are observed in the shooting picture at the same time; The analysis module is used to analyze the photos taken by the high-speed camera, record and calculate the frame difference when the operation end and the execution end reach the highest point, so as to obtain the end-to-end delay of the human-machine collaborative control system.

2. The end-to-end delay test device for a human-machine collaborative control system according to claim 1 is characterized in that: Clock synchronizer is used to synchronize the time of two high-speed cameras when measuring in different locations.

3. The end-to-end delay test device for a human-machine collaborative control system according to claim 1 is characterized in that: The frame rate of the high-speed camera is not less than 1000 frames per second, and the single-frame time interval is 1 millisecond.

4. The end-to-end delay test device for a human-machine collaborative control system according to claim 1, characterized in that: The grid density of the scale plate is in millimeter order and is used as a background size reference.

5. The end-to-end delay test device for a human-machine collaborative control system according to claim 1, characterized in that: The operating end is controlled by a handheld controller, and the execution end is a controlled mechanical device.

6. A method for testing end-to-end delay of a human-machine collaborative control system based on the end-to-end delay testing device of a human-machine collaborative control system according to claim 1, characterized in that: In the case of testing at the same location for both the operation and execution side, this includes: Arrange a dimension measuring table on the back of the human-machine collaborative control system; Use a tripod to set up a high-speed camera and adjust the camera image to simultaneously observe the dimension measuring table, the operating end handle and the execution end; Start shooting with a high-speed camera, and at the same time, hold the operation terminal and perform control operations first upward and then downward until the execution terminal completes the corresponding operation and stops shooting; Analyze the photos taken by the high-speed camera frame by frame, and record the photo frame number m1 of the highest point reached by the operating end hand and the photo frame number m2 of the highest point reached by the execution end robotic arm; The difference between m2 and m1 is obtained as the end-to-end delay of the human-machine collaborative control system.

7. A method for testing end-to-end delay of a human-machine collaborative control system based on the end-to-end delay testing device of a human-machine collaborative control system according to claim 2, characterized in that: When the operation and execution ends are tested in different locations, this includes: A dimension measuring table is arranged on the back of the operation end and the execution end of the human-machine collaborative control system; Use a tripod to set up a high-speed camera in front of the operating end and the execution end respectively, and adjust the camera screen to simultaneously observe the respective dimension measurement table, the operating end handle and the execution end; Start the clock synchronizer to synchronize the clocks of the two high-speed cameras; Turn on two high-speed cameras to shoot, and at the same time hold the operation terminal to control it upwards and then downwards until the execution terminal completes the corresponding operation and stops shooting; The photos taken by the two high-speed cameras are analyzed frame by frame, and the photo frame number m1 of the highest point reached by the operating end hand and the photo frame number m2 of the highest point reached by the execution end robotic arm are recorded respectively; The difference between m2 and m1 is obtained as the end-to-end delay of the system under remote control.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the end-to-end delay testing method of the human-machine collaborative control system as described in any one of claims 6 to 7 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the end-to-end delay testing method of the human-machine collaborative control system as described in any one of claims 6 to 7 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the end-to-end delay testing method of the human-machine collaborative control system as described in any one of claims 6 to 7 is implemented.

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