公开(公告)号：EP2865496A1

公开(公告)日：2015-04-29

申请号：EP14003204.6

申请日：2014-09-16

申请人： HARRIS CORPORATION

发明人： Summer, Matthew D. ,  Bosscher, Paul Michael

IPC分类号： B25J9/16

CPC分类号： H04L1/0002 ,  B25J9/1689 ,  G05B2219/40147 ,  G05B2219/40149 ,  G05B2219/40151 ,  G05B2219/40174 ,  G05D1/0022 ,  H04L1/0019 ,  H04L43/0852

摘要： Systems ( 100 ) and methods ( 700 ) for increasing a predictability of Telematic Operations ("TOs") of a Teleoperation System ("TS"). The methods involve: measuring an inherent latency of a Communications Link ("CL") of TS which varies unpredictably over at least a first window of time; analyzing the inherent latency, which was previously measured, to determine a first reference value useful for increasing the predictability of the TOs; using the first reference value to select an amount of controlled latency to be added to CL ( 120 ) at each of a plurality of time points ( 502-518 ); and adding the amount of controlled latency to CL at each of the plurality of time points so as to increase the predictability of the TOs. In some scenarios, the amount of controlled latency added at a first time point is different than the amount of controlled latency added at a second time point.

摘要翻译： 用于增加远程操作系统（“TS”）的远程信息业务（“TOs”）的可预测性的系统（100）和方法（700）。 所述方法包括：测量TS的通信链路（“CL”）的固有等待时间，其至少在第一时间窗口上不可预测地改变; 分析先前测量的固有潜伏期，以确定可用于增加TO的可预测性的第一参考值; 使用第一参考值来选择在多个时间点（502-518）中的每个时刻被添加到CL（120）的受控等待时间量; 以及在所述多个时间点的每一个时刻将所述受控延迟量加到CL中，以增加所述TO的可预测性。 在某些情况下，在第一时间点添加的受控延迟量不同于在第二时间点添加的受控延迟量。

公开(公告)号：EP2840449A4

公开(公告)日：2016-07-13

申请号：EP13777500

申请日：2013-04-02

申请人： YOKOGAWA ELECTRIC CORP

发明人： ISHII YOUSUKE ,  YAMAJI MASATO ,  TAKEKAWA MASAHIRO

IPC分类号： G05B13/04 ,  G05B19/418 ,  G05B21/02 ,  G05B23/02 ,  H04L29/08

CPC分类号： H04L43/0852 ,  G05B19/4185 ,  G05B2219/33192 ,  G05B2219/40151 ,  H04L43/10 ,  H04L67/125 ,  H04L67/325

摘要： A controller for using a first data item transmitted via a network to generate a second data item for controlling an entity to be controlled over the network, wherein the controller is characterized in being provided with: an adjustment unit for adjusting, with respect to the maximum delay time permissible on the network, the time by which generation of the second data item is started using the first data item after the first data item has been received; and a delay compensation unit, designed using a model of the entity to be controlled and the maximum delay time permissible on the network, for compensating for the delay of the first and second data items that can be generated using the network.

公开(公告)号：EP2840449B1

公开(公告)日：2018-09-12

申请号：EP13777500.3

申请日：2013-04-02

申请人： Yokogawa Electric Corporation

发明人： ISHII Yousuke ,  YAMAJI Masato ,  TAKEKAWA Masahiro

IPC分类号： G05B13/04 ,  G05B21/02 ,  G05B23/02 ,  H04L29/08 ,  G05B19/418

CPC分类号： H04L43/0852 ,  G05B19/4185 ,  G05B2219/33192 ,  G05B2219/40151 ,  H04L43/10 ,  H04L67/125 ,  H04L67/325

摘要： A controller for using a first data item transmitted via a network to generate a second data item for controlling an entity to be controlled over the network, wherein the controller is characterized in being provided with: an adjustment unit for adjusting, with respect to the maximum delay time permissible on the network, the time by which generation of the second data item is started using the first data item after the first data item has been received; and a delay compensation unit, designed using a model of the entity to be controlled and the maximum delay time permissible on the network, for compensating for the delay of the first and second data items that can be generated using the network.

公开(公告)号：EP2840449A1

公开(公告)日：2015-02-25

申请号：EP13777500.3

申请日：2013-04-02

申请人： Yokogawa Electric Corporation

发明人： ISHII Yousuke ,  YAMAJI Masato ,  TAKEKAWA Masahiro

IPC分类号： G05B13/04 ,  G05B21/02 ,  G05B23/02

CPC分类号： H04L43/0852 ,  G05B19/4185 ,  G05B2219/33192 ,  G05B2219/40151 ,  H04L43/10 ,  H04L67/125 ,  H04L67/325

摘要： A controller for using a first data item transmitted via a network to generate a second data item for controlling an entity to be controlled over the network, wherein the controller is characterized in being provided with: an adjustment unit for adjusting, with respect to the maximum delay time permissible on the network, the time by which generation of the second data item is started using the first data item after the first data item has been received; and a delay compensation unit, designed using a model of the entity to be controlled and the maximum delay time permissible on the network, for compensating for the delay of the first and second data items that can be generated using the network.

摘要翻译： 一种控制器，用于使用经由网络发送的第一数据项来产生用于控制通过所述网络控制的实体的第二数据项，其中所述控制器的特征在于具有：调整单元，用于相对于所述最大值 网络上允许的延迟时间，在接收到第一数据项之后使用第一数据项开始生成第二数据项的时间; 以及使用要控制的实体的模型和网络上允许的最大延迟时间设计的延迟补偿单元，用于补偿可以使用网络生成的第一和第二数据项的延迟。

公开(公告)号：EP2865495B1

公开(公告)日：2017-03-29

申请号：EP14003203.8

申请日：2014-09-16

申请人： HARRIS CORPORATION

发明人： Summer, Matthew D. ,  Bosscher, Paul Michael ,  Summer, Michael J. ,  Ortega-Morales, Miguel

IPC分类号： B25J9/16

CPC分类号： B25J9/1692 ,  B25J9/1689 ,  G05B2219/40147 ,  G05B2219/40149 ,  G05B2219/40151 ,  G05B2219/40174 ,  G05D1/0022 ,  Y10S901/02

公开(公告)号：EP2865495A1

公开(公告)日：2015-04-29

申请号：EP14003203.8

申请日：2014-09-16

申请人： HARRIS CORPORATION

发明人： Summer, Matthew D. ,  Bosscher, Paul Michael ,  Summer, Michael J. ,  Ortega-Morales, Miguel

IPC分类号： B25J9/16

CPC分类号： B25J9/1692 ,  B25J9/1689 ,  G05B2219/40147 ,  G05B2219/40149 ,  G05B2219/40151 ,  G05B2219/40174 ,  G05D1/0022 ,  Y10S901/02

摘要： Robotic system (100) includes a processing device (512) and a plurality of robot actuators (501) to cause a specified motion of the robot (102). The processing device (512) responds to one or more user robot commands (115) initiated by a control operator input at a remote control console (108). A user robot command will specify a first movement of the robot from a first position to a second position. The processing device will compare a current pose of the robot to an earlier pose of the robot to determine a difference between the current pose and the earlier pose. Based on this comparing, the processing device will selectively transform the user robot command to a latency-corrected robot command which specifies a second movement for the robot which is different from the first movement.

摘要翻译： 机器人系统（100）包括处理装置（512）和多个机器人致动器（501），以引起机器人（102）的指定运动。 处理设备（512）响应由遥控器控制台（108）上的控制操作员输入启动的一个或多个用户机器人命令（115）。 用户机器人命令将指定机器人从第一位置到第二位置的第一移动。 处理装置将将机器人的当前姿态与机器人的早期姿态进行比较，以确定当前姿态与较早姿态之间的差异。 基于该比较，处理装置将选择性地将用户机器人命令变换为指定与第一移动不同的机器人的第二移动的等待时间校正的机器人命令。

公开(公告)号：EP0735202A1

公开(公告)日：1996-10-02

申请号：EP96302305.6

申请日：1996-04-01

申请人： LASER ALIGNMENT, INC.

发明人： Steenwyk, Timothy E. ,  Walstra, Eric J.

IPC分类号： E02F3/43 ,  G05B19/41

CPC分类号： E02F3/437 ,  B25J9/1656 ,  G05B2219/39002 ,  G05B2219/39439 ,  G05B2219/40151 ,  G05B2219/41273 ,  G05B2219/42033 ,  G05B2219/45012 ,  Y10S37/907

摘要： An apparatus and method for controlling a hydraulically operated construction machine (20), having a plurality of tandem articulated members (22) which are controlled in a manner that movement of one of the members (38;36) is controlled in response to movement of another of the members (36,44;38,44), in order to move the members in a predetermined patters. The members are controlled in response to the anticipated future movement of the another member. Anticipated future movement of the another member amy be determined, for example, as a function of the present position and velocity of the another member and system delay in movement of the another member. Where the another member is controlled manually by an operator control lever coupled with a manual hydraulic control valve, anticipated future movement may be determined by monitoring actuation of the control lever.

摘要翻译： 一种用于控制液压操作的建筑机械（20）的装置和方法，所述装置和方法具有多个串联铰接构件（22），所述多个串联铰接构件（22）以使得所述构件（38; 36）中的一个的运动响应于 另一名成员（36,44; 38,44），以便以预定方式移动成员。 成员受到另一成员未来预期运动的控制。 确定另一成员的预期未来运动，例如，作为另一成员的当前位置和速度以及另一个成员的运动延迟的系统的函数来确定。 在通过与手动液压控制阀耦合的操作控制杆手动控制另一构件的情况下，可以通过监视控制杆的致动来确定预期的未来运动。