Remote Control Delay Estimation Using Radio Wave Index

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Solution Overview

Problem

Existing remote control systems face challenges in accurately estimating communication delays in wireless networks, leading to inefficiencies and increased overshoot due to fluctuating communication delays, and current methods either require power-consuming packet transmission or struggle with conforming to rapid changes in communication quality.

Innovation Solution

An apparatus with a delay measurement unit, logarithmic conversion unit, smoothing unit, radio-wave index value measurement unit, model learning unit, and communication delay estimation unit that calculates an estimated communication delay using a learning model and radio-wave index values, allowing for accurate delay estimation without packet transmission and improving operational efficiency.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If communication delay is measured by transmitting and receiving packets between remote control apparatus and apparatus to be controlled, then measurement precision is improved, but use of energy increases due to power consumption of packet transmission

Engineering Contradiction:

Improvecommunication delay measurement precisionVSAvoidpower consumption of apparatus to be controlled

Core Design Contradiction:

Measurement precisionVSUse of energy by moving object

Solution Approach 1:

The patent introduces a third party server as an intermediary to measure communication delay. The server receives packets from the remote control apparatus and measures delay to the apparatus to be controlled, avoiding the need for the apparatus to be controlled to transmit packets itself. This resolves the contradiction by maintaining measurement precision while reducing power consumption of the apparatus to be controlled.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The apparatus to be controlled performs self-measurement of communication delay by receiving packets containing timing information from the third party server and calculating delay based on its own reception time and the included transmission time. This self-service approach eliminates the need for active packet transmission from the apparatus, reducing power consumption while maintaining measurement capability.

Inventive Principle:

Principle #25Self-service

2Reliability

If delay compensation is performed using maximum delay time allowed in communication network, then stability of control loop is improved, but productivity decreases due to reduced operability from constant large delay

Engineering Contradiction:

Improvestability of control loopVSAvoidoperability of remote control system

Core Design Contradiction:

ReliabilityVSProductivity

Solution Approach 1:

The patent dynamically adjusts the delay compensation value based on actual measured communication delay conditions. Instead of using a fixed maximum delay time, the system measures actual delay and adjusts compensation accordingly, allowing the control loop to remain stable while maintaining high operability when delays are small. This resolves the contradiction by making delay compensation adaptive rather than static.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes the delay compensation parameter based on measured communication delay conditions. When delay is within acceptable ranges, smaller compensation values are used to maintain responsiveness; when delay increases, compensation is adjusted to maintain stability. This parameter adaptation resolves the contradiction between stability and productivity.

Inventive Principle:

Principle #35Parameter changes

3Adaptability or versatility

If sampling rate of communication delay measurement is increased to conform to rapid changes in communication quality, then adaptability is improved, but use of energy increases due to more frequent measurements

Engineering Contradiction:

Improveability to conform to rapid changes in communication qualityVSAvoidpower consumption for delay measurement

Core Design Contradiction:

Adaptability or versatilityVSUse of energy by moving object

Solution Approach 1:

The third party server performs preliminary measurement of communication delay and includes the results in transmitted packets. This allows the apparatus to be controlled to obtain delay information without performing its own frequent measurements, achieving high adaptability to communication changes while minimizing the energy consumption of the apparatus itself.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS11477748B2Apparatus to be controlled, control method, non- transitory computer readable medium, and remote control system

Publication Date: 2022.10.18 NEC CORP

AI summary

An apparatus to be controlled (40) is remotely controlled by a remote-control apparatus (10) through a wirelessly-connected communication network (20). The apparatuses (40) includes a delay measurement unit (403) configured to measure a communication delay, a logarithmic conversion unit (406A) configured to logarithmically convert the communication delay, a smoothing unit (406B) configured to smooth the communication delay, a radio-wave index value measurement unit (404) configured to measure a radio-wave index value, a model learning unit (406C) configured to generate a learning model, a communication delay estimation unit (407) configured to calculate an estimated communication delay value by using the learning model and the radio-wave index value, and a speed determination unit (408A) configured to calculate a second operation amount to be input to a drive unit (408B), based on the estimated communication delay value and a first operation amount input from the remote control apparatus (10).