Master-slave robot time delay detection device based on laser tracker and oscilloscope

Abstract

Provided is a master-slave robot latency detection device based on a laser tracker and an oscilloscope, a physical motion true value of a slave controller is collected by a laser tracking unit, an electrical signal of a master controller and the slave controller is collected by an oscilloscope unit, network event monitoring is realized in combination with network communication time information collected by a probe unit, after a time synchronization unit unifies a time reference, a delay processing and estimation unit processes multi-source data and outputs a delay result, a warning and redundancy checking unit triggers a hierarchical warning according to a detection result, tamper-proof storage and complete log recording are taken into account, laboratory high-precision verification and clinical / online monitoring are taken into account, detection and tracing of a delay component are realized, and the problems of insufficient precision, disconnection of true value and online monitoring, undecomposable delay component and lack of compliance records in existing master-slave robot delay detection methods are solved, high precision, decomposability and traceability are realized, and high requirements of medical and other scenes on real-time performance and safety of master-slave robots are met.

Description

Technical Field

[0001] This utility model belongs to the field of robot system testing technology, specifically relating to a master-slave robot delay detection device based on a laser tracker and an oscilloscope. Background Technology

[0002] A master-slave robot system is a collaborative system consisting of a master robot and slave robots. The master controller sends control signals to enable the slave robots to follow the master robot's action instructions, achieving collaborative execution of complex tasks. The real-time performance of a master-slave robot system directly determines control accuracy and safety. Especially in medical scenarios, even minute delays can lead to surgical errors and safety risks. Existing delay detection methods have the following shortcomings: 1) Methods such as network round-trip delay measurement, packet capture analysis, and software timestamps have limited accuracy (errors are typically ≥100μs), making them unsuitable for high-precision scenarios; 2) While oscilloscopes or laser tracking can provide physical / electrical truth values ​​(accuracy up to μs), the former can only measure electrical signals, and the latter only measures physical motion, and both are difficult to deploy online for extended periods or integrate with network measurement data; 3) Although existing technologies include algorithms such as Kalman filtering, predictive compensation, and digital twins, there is a lack of engineering solutions that combine "high-precision truth verification" with "online, redundant, and auditable delay decomposition / alarms," ​​resulting in the inability to accurately locate the source of delay and making it difficult to meet compliance requirements in medical scenarios. Therefore, there is an urgent need for a detection device that can combine laboratory true value calibration with on-site online monitoring, decompose delayed components, and trigger real-time alarms. Utility Model Content

[0003] The technical problem solved by this utility model is to provide a master-slave robot delay detection device based on a laser tracker and an oscilloscope. The laser tracking unit collects the true physical motion values ​​of the slave controller, the oscilloscope unit collects the electrical signals of the master and slave controllers, and the probe unit collects network communication time information to achieve network event monitoring. After the time synchronization unit unifies the time reference, the delay processing and estimation unit processes the multi-source data and outputs the delay results. The alarm and redundancy verification unit triggers graded alarms based on the detection results. The device features tamper-proof storage and complete log recording, balancing high-precision laboratory verification with clinical / field online monitoring. It achieves the detection and traceability of delay components, solving the problems of insufficient accuracy, disconnect between true values ​​and online monitoring, indivisible delay components, and lack of compliant records in existing master-slave robot delay detection methods. It is high-precision, decomposable, traceable, and allows for both online monitoring and offline calibration, meeting the high requirements for real-time performance and safety of master-slave robots in medical and other scenarios.

[0004] The technical solution adopted in this utility model is: a master-slave robot delay detection device based on a laser tracker and an oscilloscope, including a master controller, which is a master control side device for sending control commands; The slave controller is a slave-side device used to execute actions; and the master controller and the slave controller are connected via a communication link. A laser tracking unit is used to collect displacement and trajectory data of actions executed by the slave controller, as the true value of physical motion; A probe unit, which is connected to a communication link, is used to collect time information of network communication; An oscilloscope unit is connected to the electrical interfaces of the master controller and the slave controller respectively, and a probe unit is connected to the oscilloscope unit. The oscilloscope unit is used to acquire the control command trigger signal issued by the master controller, the drive level change or pulse signal of the slave controller, and the synchronization signal of the probe unit, and to obtain the occurrence time of the logical event. A time synchronization unit, which is connected to the master controller, slave controller, probe unit, oscilloscope unit, delay processing and estimation unit and laser tracking unit, is used to realize clock synchronization within the system. The delay processing and estimation unit is connected to the probe unit, oscilloscope unit, laser tracking unit, calibration and playback unit, and log and storage unit, and is used to process the received acquisition data and output the delay detection result. An alarm and redundancy verification unit, which is connected to a delay processing and estimation unit, is used to trigger a graded alarm based on the delay detection result and data consistency sent by the delay processing and estimation unit. The log and storage unit is used to save the raw acquisition data, delay decomposition results and alarm information sent by the delay processing and estimation unit, and adopts an immutable storage method. The calibration and playback unit, which is connected to the log and storage unit, is used to calibrate the delay detection results output by the delay processing and estimation unit using truth data, and to play them offline in the digital twin environment.

[0005] The laser tracking unit includes a laser tracker host and a reflective target ball. The reflective target ball is fixed to the end effector of the slave controller by a non-magnetic metal bracket. The laser tracker host has a sampling rate of ≥1kHz and a spatial resolution of ≤10μm. The laser tracker host is connected to the delay processing and estimation unit via a gigabit Ethernet cable, and the laser tracker host is connected to the time synchronization unit via a BNC interface to receive a 1PPS synchronization signal.

[0006] Furthermore, the oscilloscope unit employs a four-channel digital oscilloscope with a sampling rate ≥1GS / s, bandwidth ≥200MHz, and equipped with an isolated active probe. Channel 1 of the four-channel digital oscilloscope is connected to the GPIO pin of the master controller CPU to acquire the master controller's trigger signal. Channel 2 of the four-channel digital oscilloscope is connected to the pulse input interface of the slave controller's motor driver to acquire the slave control drive signal. Channel 3 of the four-channel digital oscilloscope is connected to the synchronization trigger port of the probe unit to obtain a time anchor point. The oscilloscope unit is connected to the time synchronization unit via a 10MHz reference clock line and to the delay processing and estimation unit via a USB interface.

[0007] Furthermore, the time synchronization unit uses the IEEE 1588-2008 PTPv2 protocol or hardware timestamps to achieve clock synchronization. The time synchronization unit includes a PTP master clock and a slave clock module. The PTP master clock uses a GPS-disciplined oscillator that outputs a 10MHz reference clock and a 1PPS synchronization pulse. The slave clock modules are respectively configured in the laser tracking unit, oscilloscope unit, probe unit, and delay processing and estimation unit, so that the clock deviation of the entire system is ≤1μs.

[0008] Furthermore, the probe unit includes an active probe module and a passive acquisition module. The active probe module is connected to the master switch via an SFP+ optical port, and sends probe packets and receives echo data packets via the SFP+ optical port. The passive acquisition module uses an industrial-grade network TAP device to connect the master switch and the slave switch in series in the communication link. It is used to capture the link exit time of the master side and the entry time of the slave side, passively listen to and capture data packets. Both the active probe module and the passive acquisition module are connected to the delay processing and estimation unit to capture the network time information flow direction. The passive acquisition module is connected to the oscilloscope unit to synchronously trigger the signal flow direction for time anchoring. The passive acquisition module is also connected to the time synchronization unit to receive PTP protocol network interface or hardware clock signals.

[0009] Furthermore, the delay processing and estimation unit adopts an industrial PC equipped with an FPGA acceleration card, and the delay processing and estimation unit decomposes the control processing delay, network transmission delay, and execution / mechanical delay through Kalman filtering or Bayesian fusion algorithm, and generates confidence indexes for each delay component.

[0010] Furthermore, the alarm and redundancy verification unit's tiered alarms include: outputting a speed reduction suggestion when a level 1 alarm occurs, triggering a pause command when a level 2 alarm occurs, and automatically switching to local control mode when a level 3 alarm occurs; the redundancy verification of the alarm and redundancy verification unit determines whether the data is consistent based on the deviation range of the network delay results collected by the active probe module and the passive probe module in the comparison probe unit.

[0011] Furthermore, the log and storage unit uses a WORM hard disk or a storage device that supports digital signatures.

[0012] Furthermore, the calibration and playback unit corrects the noise covariance matrix of the Kalman filter or the prior probability of the Bayesian model in the delay processing and estimation unit by calling the true data in the log, and verifies the effectiveness of the delay compensation algorithm by offline playback of historical delay data and robot motion trajectory recorded by the laser tracking unit in the digital twin environment.

[0013] Furthermore, it also includes an FPGA hardware platform, which is connected to an oscilloscope unit, a master controller, a delay processing and estimation unit, and a time synchronization unit, for high-speed data preprocessing and preliminary calculation of timestamps and delay components.

[0014] Advantages of this utility model compared to the prior art: 1. High-precision truth verification of this technical solution: The laser tracking unit with a spatial resolution ≤10μm and the oscilloscope unit with a sampling rate ≥1GS / s provide the reference truth at the physical and electrical levels. Time synchronization ensures the consistency of multi-source data and provides a reliable reference for delay decomposition. 2. The delay components of this technical solution can be decomposed: By defining the timestamp at the hardware level of the probe unit, the total delay is clearly decomposed into three components: control, network, and execution, so as to accurately locate the system bottleneck. 3. This technical solution combines online and offline methods: the probe unit supports long-term online monitoring, while the calibration and playback unit is calibrated offline using true data, balancing real-time performance and accuracy; 4. Redundancy and security of this technical solution: The data verification and hierarchical alarm mechanism of the main probe module and the passive acquisition module ensure the reliability of delay monitoring and meet the needs of high-risk scenarios such as medical care; 5. This technical solution is compliant and traceable: it features tamper-proof storage and complete log recording, supports auditing and tracing, and meets the compliance requirements of medical / industrial scenarios. Attached Figure Description

[0015] Figure 1 This is the overall system block diagram of this utility model; Figure 2 This is a timing diagram of the present invention; it illustrates the time correspondence between t1-t4 (probe), t_A / t_B (oscilloscope), and t_motion (laser tracking), and clarifies the calculation logic of Δ_ctrl (t1-t_A), Δ_net (t3-t1 and t3-t2), and Δ_exec (t_motion-t_B); Figure 3 This is a flowchart of the online monitoring process of this utility model; Figure 4 This is a flowchart of the offline calibration process of this utility model. Detailed Implementation

[0016] The following will be based on the embodiments of this utility model. Figure 1-4 The technical solutions in the embodiments of this utility model are clearly and completely described herein. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0017] In this document, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0018] A master-slave robot delay detection device based on laser trackers and oscilloscopes, such as Figure 1-4 As shown, it includes a master controller, which is a master control device for sending control commands; and a slave controller, which is a slave control device for executing actions; and the master controller and the slave controller are connected through a communication link. A laser tracking unit is used to collect displacement and trajectory data of actions executed by the slave controller as the true value of physical motion. The laser tracking unit includes a laser tracker host and a reflective target ball. The reflective target ball is fixed to the end effector of the slave controller via a non-magnetic metal bracket (titanium alloy bracket). The laser tracker host has a sampling rate ≥1kHz and a spatial resolution ≤10μm. The laser tracker host is connected to a delay processing and estimation unit via a gigabit Ethernet cable (Cat6a), and is also connected to a time synchronization unit via a BNC interface to receive a 1PPS synchronization signal. A probe unit, connected to a communication link, is used to collect network communication time information. The probe unit includes an active probe module and a passive acquisition module. The active probe module connects to the master switch via an SFP+ optical port, sending probe packets and receiving echo data packets. The passive acquisition module uses an industrial-grade network TAP device, with its input connected to the master switch and its output connected to the slave switch, connected in series in the communication link. It is used to capture the master-side link exit time and the slave-side entry time, passively listening to and capturing data packets. The active probe module is implemented based on an independent FPGA chip, used to implement probe packet sending, echo parsing, and hardware timestamp functions. The active probe module has a built-in FPGA chip and is equipped with 10G... An SFP+ optical port periodically (configurable 1ms / 10ms) sends 64-byte UDP probe packets with hardware timestamps, recording the sending time t1 (i.e., the master controller NIC hardware timestamp t_nic_send) and the echo time t4. The passive acquisition module uses an industrial-grade network TAP device connected in series in the communication link to capture the master-side link exit time t2 (the physical link exit time from the master controller NIC to the switch, with a deviation from t1 ≤ 0.5μs) and the slave-side entry time t3 (i.e., the slave controller NIC hardware timestamp t_nic_recv). Both the active probe module and the passive acquisition module are connected to the delay processing and estimation unit to capture the network time information flow direction. The passive acquisition module is connected to the oscilloscope unit to synchronously trigger the signal flow direction for time anchoring. The passive acquisition module is also connected to the time synchronization unit to receive PTP protocol network interface or hardware clock signals. An oscilloscope unit is provided, which is electrically connected to the master controller and the slave controller respectively, and a probe unit is connected to the oscilloscope unit. Figure 1(Not shown in the diagram), the oscilloscope unit is used to acquire control command trigger signals issued by the master controller, drive level changes or pulse signals from the slave controller, and synchronization signals from the probe unit, and to obtain the occurrence time of logical events. Since the oscilloscope outputs a large amount of data, direct transmission to the PC would consume bandwidth and cause significant delays. Therefore, an FPGA hardware platform is used to connect the oscilloscope unit and the master controller. The FPGA hardware platform can extract key signal edges in real time, perform time alignment and compression at the hardware level, thereby reducing data transmission pressure and ensuring time accuracy. The oscilloscope unit uses a sampling rate ≥1GS / s, bandwidth ≥200MHz, and is equipped with an isolated active probe. The device comprises a four-channel digital oscilloscope. Channel 1 of the four-channel digital oscilloscope is connected to the GPIO pin of the master controller CPU to acquire the master controller's master trigger signal (t_A, corresponding to the hardware electrical response time of the command issued by the master controller application layer). Channel 2 of the four-channel digital oscilloscope is connected to the pulse input interface of the slave controller motor driver to acquire the slave drive signal (t_B, i.e., the slave electrical response time t_elec). Channel 3 of the four-channel digital oscilloscope is connected to the synchronization trigger port of the probe unit to obtain the time anchor point. The oscilloscope unit is connected to the time synchronization unit through a 10MHz reference clock line and to the delay processing and estimation unit through a USB 3.0 interface. The time synchronization unit, which is connected to the master controller, slave controller, and probe unit (to avoid excessive wiring and graphical complexity, therefore...), Figure 1(Not shown in the diagram) The oscilloscope unit, delay processing and estimation unit, and laser tracking unit are connected to achieve clock synchronization within the system; wherein, the time synchronization unit adopts IEEE 1588-2008 Clock synchronization is achieved using the PTPv2 protocol or hardware timestamps (such as SO_TIMESTAMPING). The time synchronization unit includes a PTP master clock and slave clock modules. The PTP master clock uses a GPS-disciplined oscillator that outputs a 10MHz reference clock (stability ≤1e-12 / day) and a 1PPS synchronization pulse. The PTP master clock is connected to each slave clock module via STP cables. The slave clock modules are respectively configured in the laser tracking unit, oscilloscope unit, probe unit, and delay processing and estimation unit, all connected to a 1PPS signal. The clock deviation of the entire system is controlled to ≤1μs using ptp4l software and phc2sys tool. The slave clock modules are connected to the delay processing and estimation unit so that a unified clock reference can be called during delay decomposition. This ensures that the data collected by the laser tracking unit, oscilloscope unit, and probe unit are compared and calculated under the same time reference, which is achieved through the PTP or hardware timestamp interface, thereby ensuring the clock consistency between the delay calculation stage and the acquisition stage. The master controller, slave controller, and probe unit are connected via the PTP protocol network interface or hardware clock line (10 A MHz reference clock and a 1PPS synchronization signal are connected to the time synchronization unit to ensure a unified clock reference for the entire system. The FPGA hardware platform is connected to the time synchronization unit, and its function is to use the FPGA hardware platform to realize high-precision timestamp marking and clock correction, so as to ensure that multi-source data maintains sub-microsecond synchronization accuracy during sampling and transmission. A delay processing and estimation unit, connected to a probe unit, oscilloscope unit, laser tracking unit, calibration and playback unit, and log and storage unit, is used to process the received acquisition data and output delay detection results. The delay processing and estimation unit employs an industrial PC equipped with an FPGA accelerator card, connected to the FPGA accelerator card via a PCIe interface. The unit decomposes the delay using Kalman filtering or Bayesian fusion algorithms to obtain the control processing delay Δ_ctrl = t1 - t_A (t1 is the main controller NIC transmission time, t_A is the main control electrical trigger time), network transmission delay Δ_net (a weighted fusion value of the active probe module result t3 - t1 and the passive acquisition result t3 - t2, with weights based on the confidence levels of both), and execution / mechanical delay Δ_exec = t_motion - t_B (t_motion is the start time of motion determined by laser tracking, t_B is the electrical response time of the slave control end, and confidence indices (0-100%) are generated for each delay component, where the Δ_net fusion weight is dynamically adjusted according to the variance of active / passive data (higher weight for smaller variance); the delay processing and estimation unit is connected to the FPGA hardware platform, which is used to accelerate data processing, especially real-time preprocessing of high-speed sampled data, timestamp marking, and preliminary calculation of delay components; it is connected to the calibration and playback unit to compare and calibrate the delay detection results with the true data, and supports offline playback; it is connected to the log and storage unit to store the collected data and delay decomposition results; and it is connected to the alarm and redundancy verification unit to receive the delay detection results and trigger corresponding alarms or safety measures. An alarm and redundancy verification unit, connected to a delay processing and estimation unit, is used to trigger tiered alarms based on delay detection results and data consistency sent by the delay processing and estimation unit. The tiered alarms include: a Level 1 alarm (minor delay) outputting a speed reduction suggestion; a Level 2 alarm (significant delay) triggering a pause command; and a Level 3 alarm (severe delay) automatically switching to local control mode. Redundancy verification by the alarm and redundancy verification unit compares the network delay results collected by the active and passive probe modules in the comparison probe unit. If the deviation exceeds 5μs (based on the hardware sampling error 3σ value), data consistency is determined. The alarm and redundancy verification unit is also connected to a slave controller. This design allows for rapid intervention by the slave controller in cases of excessive delay or data inconsistency. For example, a Level 1 alarm outputs a speed reduction command; a Level 2 alarm issues a pause command; and a Level 3 alarm directly switches to the slave controller's local control mode to ensure safety. This design achieves closed-loop linkage between delay monitoring and safety control. A log and storage unit is used to store the raw acquisition data, delay decomposition results, and alarm information sent by the delay processing and estimation unit, and adopts an immutable storage method. The log and storage unit is connected to the delay processing and estimation unit through a SATA III interface. The log and storage unit uses a WORM hard drive or a storage device that supports digital signatures to automatically store raw acquisition data (X / Y / Z coordinates and timestamps of the laser trajectory, oscilloscope waveforms, network data packets), delay decomposition results (Δ_ctrl, Δ_net, Δ_exec and confidence level), and alarm events (trigger time, level, and response measures), meeting the audit requirements of FDA 21 CFR Part 11 regulations for medical scenarios or industrial scenarios. A calibration and playback unit, connected to the log and storage unit, is used to calibrate the delay detection results output by the delay processing and estimation unit using ground truth data, and to replay them offline in a digital twin environment. Specifically, the calibration and playback unit uses ground truth data from the log (t_motion from the laser tracking unit, t_A / t_B from the oscilloscope unit) to correct the noise covariance matrix of the Kalman filter or the prior probability of the Bayesian model in the delay processing and estimation unit. It then replays historical delay data and the robot's motion trajectory recorded by the laser tracking unit offline in a digital twin environment (such as Unity) to simulate the robot's response under different delay scenarios and verify the effectiveness of the delay compensation algorithm.

[0019] Workflow 1) System initialization and synchronization: Verify hardware connection, start time synchronization unit, and ensure that the clock deviation of the whole system is ≤1μs through 1PPS signal and 10MHz reference clock; after synchronization is completed, calibrate the fixed offset of t_send and t_A (by sending test commands multiple times and taking the average value). 2) Multi-source data acquisition: The laser tracking unit records t_motion (sampling rate 1kHz), the oscilloscope unit acquires t_A / t_B (sampling rate 1GS / s), and the probe unit acquires t1-t4 (active probe period 10ms, passive acquisition real-time capture). 3) Delay decomposition and fusion: The delay processing and estimation unit preprocesses the data (removes abnormal jump points in laser tracking and aligns timestamps), and calculates Δ_ctrl, Δ_net, Δ_exec and confidence level through Kalman filtering (a confidence level < 80% is marked as low confidence). 4) Anomaly Response and Logs: The alarm and redundancy verification unit compare the active / passive network latency. If the deviation exceeds 5μs, a data inconsistency warning is triggered. At the same time, Δ_total and each component are monitored. If the threshold is exceeded, the corresponding level alarm is triggered (e.g., in a medical scenario, Δ_total > 50ms triggers a level 3 alarm). All data is stored synchronously in the log and storage unit. 5) Offline calibration and optimization: The calibration and playback unit periodically calls the t_send and t_A data in the log to update their offsets; in the digital twin environment, it replays the motion trajectory and delay data, optimizes the noise covariance matrix of the Kalman filter, and improves the delay decomposition accuracy.

[0020] This technical solution uses a laser tracking unit to acquire the true physical motion values ​​of the slave controller, an oscilloscope unit to acquire the electrical signals of the master and slave controllers, and a probe unit to acquire network communication time information to monitor network events. After the time synchronization unit unifies the time reference, the delay processing and estimation unit processes the multi-source data and outputs the delay results. The alarm and redundancy verification unit triggers graded alarms based on the detection results. The system features tamper-proof storage and complete log recording, balancing high-precision laboratory verification with clinical / field online monitoring. It achieves the detection and traceability of delay components, solving the problems of insufficient accuracy, disconnect between true values ​​and online monitoring, indivisible delay components, and lack of compliant records in existing master-slave robot delay detection methods. It is high-precision, decomposable, traceable, and can be monitored online and calibrated offline, meeting the high requirements for real-time performance and safety of master-slave robots in medical and other scenarios.

[0021] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0022] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A master-slave robot delay detection device based on a laser tracker and an oscilloscope, characterized in that: Includes a master controller, which is a master control side device used to send control commands; The slave controller is a slave-side device used to execute actions; and the master controller and the slave controller are connected via a communication link. A laser tracking unit is used to collect displacement and trajectory data of actions executed by the slave controller, as the true value of physical motion; A probe unit, which is connected to a communication link, is used to collect time information of network communication; An oscilloscope unit is connected to the electrical interfaces of the master controller and the slave controller respectively, and a probe unit is connected to the oscilloscope unit. The oscilloscope unit is used to acquire the control command trigger signal issued by the master controller, the drive level change or pulse signal of the slave controller, and the synchronization signal of the probe unit, and to obtain the occurrence time of the logical event. A time synchronization unit, which is connected to the master controller, slave controller, probe unit, oscilloscope unit, delay processing and estimation unit and laser tracking unit, is used to realize clock synchronization within the system. The delay processing and estimation unit is connected to the probe unit, oscilloscope unit, laser tracking unit, calibration and playback unit, and log and storage unit, and is used to process the received acquisition data and output the delay detection result. An alarm and redundancy verification unit, which is connected to a delay processing and estimation unit, is used to trigger a graded alarm based on the delay detection result and data consistency sent by the delay processing and estimation unit. The log and storage unit is used to save the raw acquisition data, delay decomposition results and alarm information sent by the delay processing and estimation unit, and adopts an immutable storage method. The calibration and playback unit, which is connected to the log and storage unit, is used to calibrate the delay detection results output by the delay processing and estimation unit using truth data, and to play them offline in the digital twin environment.

2. The master-slave robot delay detection device based on a laser tracker and an oscilloscope according to claim 1, characterized in that: The laser tracking unit includes a laser tracker host and a reflective target ball; the reflective target ball is fixed to the end effector of the slave controller by a non-magnetic metal bracket; the laser tracker host has a sampling rate ≥1kHz and a spatial resolution ≤10μm; the laser tracker host is connected to the delay processing and estimation unit via a gigabit Ethernet cable; and the laser tracker host is connected to the time synchronization unit via a BNC interface to receive a 1PPS synchronization signal.

3. The master-slave robot delay detection device based on a laser tracker and an oscilloscope according to claim 1, characterized in that: The oscilloscope unit employs a four-channel digital oscilloscope with a sampling rate ≥1GS / s, bandwidth ≥200MHz, and equipped with an isolated active probe. Channel 1 of the four-channel digital oscilloscope is connected to the GPIO pin of the master controller CPU to acquire the master controller's trigger signal. Channel 2 of the four-channel digital oscilloscope is connected to the pulse input interface of the slave controller's motor driver to acquire the slave control drive signal. Channel 3 of the four-channel digital oscilloscope is connected to the synchronization trigger port of the probe unit to obtain a time anchor point. The oscilloscope unit is connected to the time synchronization unit via a 10MHz reference clock line and to the delay processing and estimation unit via a USB interface.

4. The master-slave robot delay detection device based on a laser tracker and an oscilloscope according to claim 1, characterized in that: The time synchronization unit uses the IEEE 1588-2008 PTPv2 protocol or hardware timestamps to achieve clock synchronization. The time synchronization unit includes a PTP master clock and a slave clock module. The PTP master clock uses a GPS-disciplined oscillator that outputs a 10MHz reference clock and a 1PPS synchronization pulse. The slave clock modules are respectively configured in the laser tracking unit, oscilloscope unit, probe unit, and delay processing and estimation unit to ensure that the clock deviation of the entire system is ≤1μs.

5. The master-slave robot delay detection device based on a laser tracker and an oscilloscope according to claim 1, characterized in that: The probe unit includes an active probe module and a passive acquisition module. The active probe module is connected to the master switch via an SFP+ optical port, and sends probe packets and receives echo data packets via the SFP+ optical port. The passive acquisition module uses an industrial-grade network TAP device to connect the master switch and the slave switch in series in the communication link. It is used to capture the exit time of the master-side link and the entry time of the slave-side link, passively listening to and capturing data packets. Both the active probe module and the passive acquisition module are connected to the delay processing and estimation unit to capture the network time information flow direction. The passive acquisition module is connected to the oscilloscope unit to synchronously trigger the signal flow direction for time anchoring. The passive acquisition module is also connected to the time synchronization unit to receive PTP protocol network interface or hardware clock signals.

6. The master-slave robot delay detection device based on a laser tracker and an oscilloscope according to claim 1, characterized in that: The delay processing and estimation unit uses an industrial PC equipped with an FPGA acceleration card. The delay processing and estimation unit decomposes the control processing delay, network transmission delay, and execution / mechanical delay through Kalman filtering or Bayesian fusion algorithm, and generates confidence indexes for each delay component.

7. The master-slave robot delay detection device based on a laser tracker and an oscilloscope according to claim 1, characterized in that: The alarm and redundancy verification unit has the following hierarchical alarm functions: a level 1 alarm outputs a speed reduction suggestion, a level 2 alarm triggers a pause command, and a level 3 alarm automatically switches to local control mode. The redundancy verification of the alarm and redundancy verification unit determines whether the data is consistent based on the deviation range of the network delay results collected by the active probe module and the passive probe module in the comparison probe unit.

8. The master-slave robot delay detection device based on a laser tracker and an oscilloscope according to claim 1, characterized in that: The log and storage unit uses a WORM hard drive or a storage device that supports digital signatures.

9. The master-slave robot delay detection device based on a laser tracker and an oscilloscope according to claim 1, characterized in that: The calibration and playback unit corrects the noise covariance matrix of the Kalman filter or the prior probability of the Bayesian model in the delay processing and estimation unit by calling the true data in the log, and verifies the effectiveness of the delay compensation algorithm by offline playback of historical delay data and robot motion trajectory recorded by the laser tracking unit in the digital twin environment.

10. The master-slave robot delay detection device based on a laser tracker and an oscilloscope according to claim 1, characterized in that: It also includes an FPGA hardware platform, which is connected to an oscilloscope unit, a master controller, a delay processing and estimation unit, and a time synchronization unit, for high-speed data preprocessing and preliminary calculation of timestamps and delay components.

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