Remote Control Delay Prediction for Stable VR Teleoperation
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Solution Overview
Problem
In remote control systems, accumulated processing delays from servers, robot actuation, and head-mounted display rendering in virtual reality environments cause time lags between human control inputs and feedback, reducing work efficiency and stability.
Innovation Solution
A remote control system with a prediction processing device that predicts end-to-end delay time and generates control signals to account for this delay, ensuring timely operation of remote control targets without human-perceptible lag.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If remote control is performed without delay prediction, then system complexity is low, but work efficiency decreases due to accumulated delays
Solution Approach 1:
The prediction processing device performs delay prediction in advance before the actual remote control operation. By predicting the delay time that will occur during control signal transmission and processing, the system prepares compensation values beforehand, allowing the operator to issue commands without experiencing perceptible delay, thus improving work efficiency while managing system complexity through pre-computation.
Solution Approach 2:
The system cushions against the harmful effect of accumulated delays by predicting the total delay time (communication delay + processing delay + rendering delay) in advance and compensating for it beforehand. This prior cushioning ensures that the operator does not experience the full impact of delays, maintaining work efficiency without requiring complete elimination of delay sources.
2Reliability
If only communication delay is compensated, then processing complexity is low, but control stability is insufficient due to unaccounted processing delays
Solution Approach 1:
The prediction processing device merges multiple delay sources into a single comprehensive delay prediction model. Instead of separately compensating for communication delay, processing delay, and rendering delay, the system combines these elements into one unified prediction that accounts for the total accumulated delay, thereby improving control stability without proportionally increasing processing complexity.
Solution Approach 2:
The delay prediction device serves multiple functions simultaneously: it predicts communication delay, processing delay, and rendering delay in a single operation. This multi-functional approach allows the system to compensate for all delay sources comprehensively, enhancing control stability while avoiding the need for separate dedicated compensation mechanisms for each delay type.
3Productivity
If delay prediction processing is added, then work efficiency improves, but device complexity increases
Solution Approach 1:
The prediction processing device acts as an intermediary between the operator and the remote control target. It intercepts the control signal, predicts the delay that will occur, and adjusts the timing accordingly before transmission. This intermediary approach improves work efficiency by eliminating perceptible delay while containing device complexity within a dedicated prediction module rather than distributing complexity throughout the entire system.
Data Source
AI summary
A remote control system that remotely controls an operation of a control target. The system includes a remote control device; and a prediction processing device. The remote control device includes a transmitter that transmits a control signal for controlling an operation of a remote control target to the control target, and the prediction processing device includes a delay time prediction processing unit that predicts a delay time from transmission of the control signal from the remote control device to feedback to control of the operation of the remote control target. The prediction processing device further includes a generation unit that generates a control signal for controlling an operation for the remote control device.