Telexistence Network Path Control for Stable Slave Robot Operation
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Solution Overview
Problem
In telexistence systems, maintaining consistent communication quality and prioritizing specific parameters like bit rate and data resolution is challenging due to variations in network traffic and bandwidth, which can affect the operation of slave robots controlled remotely.
Innovation Solution
A control apparatus and method that dynamically adjusts communication paths between operating devices and slave robots using virtual routers, acquiring status reports to determine optimal paths and transmit control instructions, ensuring predetermined values for communication quality are maintained.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If real-time communication is implemented between operating device and slave robot using existing network technologies, then communication speed and responsiveness are improved, but communication quality and parameter consistency deteriorate due to network traffic variations
Solution Approach 1:
The system dynamically selects communication paths based on real-time network conditions. The control apparatus monitors communication quality parameters and switches between multiple available paths to maintain consistent communication quality, resolving the contradiction between speed and reliability by making the communication path adaptive rather than fixed.
Solution Approach 2:
The system changes communication parameters such as bit rate and data amount according to network conditions while maintaining quality thresholds. By adjusting these parameters dynamically, the system preserves communication quality consistency even when network traffic varies, while still achieving real-time communication speeds.
2Stability of the object's composition
If communication path is fixed after establishment between operating device and slave robot, then communication stability is improved, but adaptability to network condition changes deteriorates
Solution Approach 1:
The communication path is made dynamic through continuous monitoring and conditional switching. The system maintains path stability during normal operation but automatically adapts to network condition changes by switching paths when quality thresholds are not met, resolving the contradiction between stability and adaptability.
Solution Approach 2:
The control apparatus continuously monitors communication quality parameters and uses this feedback to determine when to switch communication paths. This feedback mechanism enables the system to maintain stability while adapting to changing network conditions, as path changes are triggered only when necessary based on measured quality metrics.
3Productivity
If bit rate and data amount are adjusted according to network conditions, then communication efficiency is improved, but video resolution and operation control quality deteriorate
Solution Approach 1:
The system changes communication parameters such as bit rate and data amount dynamically based on network conditions. By adjusting these parameters within quality thresholds, the system maintains video resolution and control quality while improving communication efficiency through optimized data transmission.
Solution Approach 2:
The control apparatus acts as an intermediary that manages the trade-off between communication efficiency and quality. It mediates between network capacity constraints and quality requirements by selecting appropriate communication paths and parameters, ensuring that efficiency gains do not compromise video resolution or control quality.
4Adaptability or versatility
If multiple operating devices control one slave robot, then system versatility is improved, but path determination complexity deteriorates
Solution Approach 1:
The system segments the communication path determination by establishing separate paths from each operating device to the slave robot. This segmentation allows independent optimization of each path while maintaining overall system versatility, reducing the complexity of determining communication paths in multi-device scenarios.
Solution Approach 2:
The control apparatus implements a universal path determination mechanism that handles multiple operating devices through a common framework. By creating a multi-functional path selection system that can accommodate any number of devices, the system achieves versatility without proportionally increasing complexity, as the same principles apply regardless of device count.
Data Source
AI summary
In a control apparatus that controls communication of a telexistence system including a slave robot and an operating device, a state acquisition part repeatedly acquires status reports respectively from the operating device, the slave robot, and a plurality of virtual routers that connect the operating device and the slave robot while communication between the operating device and the slave robot is established. A path determination part determines a communication path for transmitting a control instruction for controlling the motion of the slave robot to the slave robot on the basis of the acquired status reports when the state acquisition part acquires the status reports. An instruction transmitting part transmits an instruction for forming the communication path determined by the path determination part to each of the plurality of virtual routers.