CN114422401A - Remote control delay measurement method, device and medium - Google Patents

Abstract

The present application discloses a remote control delay measurement method, device and medium, and relates to the field of remote control. The method includes: in response to a control operation performed by an operating device based on a control terminal, generating remote control information; in response to the remote control information, controlling a first The instructing object sends out the first indication signal; sends the remote control information to the remote end so that the remote end controls the second indication object to send out the second indication signal in response to the remote control information; The image information is displayed on the information display device; the image information includes the second indication object and the second indication signal sent by the second indication object; the delay time is determined according to the first indication signal and the second indication signal displayed on the information display device information. The technical solution provided by the present application can visually display the delay information in the remote control, and the delay is the overall delay of the remote control loop, which can improve the reliability of the remote operation.

Description

Delay measurement method, device and medium for remote control

technical field

The present application relates to the field of remote control, and in particular to a method, device and medium for measuring time delay for remote control.

Background technique

Remote control means that the operator can control the car or other machines out of sight through the display screen, steering wheel and other simulated operation devices, through wired or wireless network. The simulated operation device is connected with the actual device to be controlled through a local area network or a wide area network, and the control distance can break through the space limitation. The industry is also rapidly gaining popularity. Remote driving is a kind of remote control. Remote driving refers to the car driving on the road. The camera and controller on the car collect and process the image information, and then send it to the control center through the wireless network; the control center based on the returned images, etc. By simulating the steering wheel and other manipulations of the controlled vehicle, the vehicle can perform a series of actions such as acceleration, deceleration, and turning.

Because remote control needs to be transmitted through wireless local area network, wide area network and other networks, the real-time transmission is very important. Once the network delay is misjudged, the operation will be far from the actual situation, and it will cause a major accident. Therefore, the network delay judgment of the system becomes a particularly important key parameter. In related technologies, the network delay of remote control will be represented by numbers, dashboards, colors, etc. to improve the safety of remote driving, but they cannot visually display the network delay, and the operator cannot intuitively feel the actual needs. Therefore, a more intuitive and general network delay measurement and indication method is required.

SUMMARY OF THE INVENTION

In order to display delay information more intuitively and improve the reliability of remote control, the present application provides a method, device and medium for measuring delay of remote control. The technical solution is as follows:

In a first aspect, the present application provides a remote control delay measurement method, which is applied to a control terminal, and the method includes:

generating remote control information in response to a control operation performed by an operating device based on the control terminal;

In response to the remote control information, the first indication object controlling the control terminal sends out a first indication signal;

sending the remote control information to the remote terminal so that the remote terminal controls the second indication object of the remote terminal to send a second indication signal in response to the remote control information;

Receive the image information collected and sent by the remote terminal, and display the image information on the information display device of the control terminal; the image information includes the second indicating object and the said second indicating object. the second indication signal;

Delay information is determined according to the first indication signal and the second indication signal displayed on the information display device.

Optionally, the first indication object is a physical indicator light or a virtual indicator light, the first indication signal represents the lighting or extinguishing of the first indication object, and the control of the remote control information in response to the remote control information. The first indication object of the control terminal sends out a first indication signal, including:

In response to the remote control information, generating a first referent control instruction;

According to the first designation object control instruction, the first designation object controlling the control terminal sends the first designation signal.

Optionally, the determining the delay information according to the first indication signal and the second indication signal displayed on the information display device includes:

The delay information is determined according to the time interval between the first indication signal and the second indication signal displayed on the information display device.

Optionally, the generating remote control information and sending the remote control information to the remote terminal in response to the control operation performed by the operating device based on the control terminal includes:

Acquiring sensor data in response to a control operation performed by an operating device based on the control terminal;

calculating and generating remote control information based on the sensor data;

Based on the first network device of the control terminal, the remote control information is sent to the remote terminal.

Optionally, the method further includes:

sending the remote control information to a remote end so that the remote end generates control response information in response to the remote control information;

receiving the control response information returned by the remote end;

In response to the control response information, controlling the first indicator object of the control terminal to issue a third indicator signal;

determining delay information according to the first indication signal and the third indication signal;

Wherein, the first indication object is a speaker, the first indication signal represents the sound or mute of the first indication object, and the third indication signal represents the sound or mute of the first indication object.

In a second aspect, the present application provides a remote control delay measurement method, which is applied to a remote end, and the method includes:

Receive remote control information sent by the control terminal;

In response to the remote control information, the second indication object controlling the remote terminal sends out a second indication signal;

Collect image information based on the image acquisition device of the remote end, where the image information includes the second indication object and the second indication signal sent by the second indication object;

Send the image information to the control terminal, so as to display the image information on the information display device of the control terminal and make the control terminal determine the delay according to the second indication information displayed on the information display device. time information.

Optionally, receiving the remote control information sent by the control terminal; and in response to the remote control information, controlling the second indication object of the remote terminal to issue a second indication signal, including:

Based on the second network device of the remote end, receive the remote control information sent by the control end, and send the remote control information to the control device of the remote end;

The control device generates a second object control instruction in response to the remote control information;

According to the second object control instruction, the second instruction object controlling the remote end sends out a second instruction signal.

In a third aspect, the present application provides a remote-controlled delay measurement device, which is applied to a control terminal, and the device includes:

an information generation module for generating remote control information in response to a control operation performed by an operating device based on the control terminal;

a first indicator object control module, configured to control the first indicator object of the control terminal to send out a first indicator signal in response to the remote control information;

a first information sending module, configured to send the remote control information to the remote terminal, so that the remote terminal controls the second indication object of the remote terminal to send a second indication signal in response to the remote control information;

The first information receiving module is used to receive the image information collected and sent by the remote terminal, and display the image information on the information display device of the control terminal; the image information includes the second indication object and the the second indication signal sent by the second indication object;

A delay determination module, configured to determine delay information according to the first indication signal and the second indication signal displayed on the information display device.

In a fourth aspect, the present application provides a remote-controlled delay measurement device, which is applied to a remote terminal, and the device includes:

The second information receiving module is used for receiving the remote control information sent by the control terminal;

A second designation object control module, configured to control the second designation object of the remote end to send out a second designation signal in response to the remote control information;

an information collection module, configured to collect image information based on the image collection device of the remote end, where the image information includes the second indication object and the second indication signal sent by the second indication object;

The second information sending module is used for sending the image information to the control terminal, so as to display the image information on the information display device of the control terminal and make the control terminal according to the information displayed on the information display device. The second indication information determines delay information.

In a fifth aspect, the present application provides a computer-readable storage medium, where at least one instruction or at least one program is stored in the computer-readable storage medium, and the at least one instruction or at least one program is loaded and executed by a processor to A method as described in the first aspect is implemented.

In a sixth aspect, the present application provides a computer device, the computer device includes a processor and a memory, the memory stores at least one instruction or at least a piece of program, and the at least one instruction or at least a piece of program is processed by the The device is loaded and executed to implement a method as described in the first aspect.

In a seventh aspect, the present application provides a computer program product, wherein the computer program product includes computer instructions, and when the computer instructions are executed by a processor, the processing of a payment request according to the first aspect is realized method.

The remote control delay measurement method, device and medium provided by this application have the following technical effects:

In the solution provided by the present application, when the control end performs a control operation, in response to the remote control information corresponding to the control operation, the control end controls the first indication object to issue a first indication signal; when the remote end receives the remote control information, it controls the remote control The second indication object sends out a second indication signal, collects image information including the second indication object and the second indication signal, transmits the image information back to the control terminal, and displays the image information on the information display device of the control terminal. By observing the first indication signal and the second indication signal, the control terminal can intuitively feel the delay in the actual operation. This delay is the overall delay of the remote control loop, which has more practical application significance and can improve the reliability of remote operation. .

Additional aspects and advantages of the present application will be set forth, in part, from the following description, and in part will become apparent from the following description, or may be learned by practice of the present application.

Description of drawings

In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or in the prior art, the following briefly introduces the accompanying drawings used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description The drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1(1) and 1(2) are schematic diagrams of an implementation environment of a remote-controlled delay measurement method provided by an embodiment of the present application;

2 is a schematic flowchart of a remote-controlled delay measurement method provided by an embodiment of the present application;

FIG. 3 is a schematic flowchart of generating remote control information provided by an embodiment of the present application;

4 is a schematic flowchart of a second indication object for controlling a remote end to send a second indication signal according to an embodiment of the present application;

5 is a schematic flowchart of another remote control delay measurement method provided by an embodiment of the present application;

6 is a schematic flowchart of a remote-controlled delay measurement device provided by an embodiment of the present application;

7 is a schematic diagram of another remote-controlled delay measurement device provided by an embodiment of the present application;

FIG. 8 is a schematic diagram of a hardware structure of a device for implementing a remote control delay measurement method provided by an embodiment of the present application.

Detailed ways

In order to display delay information more intuitively and improve the reliability of remote control, embodiments of the present application provide a method, device and medium for measuring delay of remote control. The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present application. Examples of such embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout.

It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that data so used may be interchanged under appropriate circumstances so that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or server comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.

Please refer to FIG. 1(1) and FIG. 1(2), which are schematic diagrams of an implementation environment of a remote control delay measurement method provided by an embodiment of the present application, as shown in FIG. 1(1) and FIG. 1(2) , the implementation environment may include at least a control room end and a remote unit. In the application scenario of remote driving, the remote unit is also the vehicle end.

In a complete remote driving system, as shown in Figure 1(1), the control room side can include but is not limited to: operation unit - steering wheel, sensor processing unit/local control unit, computing unit, monitoring unit, etc.; as shown in Figure 1 ( As shown in 2), the remote unit, that is, the vehicle end may include, but is not limited to, a communication unit, a control unit, an execution unit, a camera, etc.; the control room end and the vehicle end may be communicated and connected through a public network. In the embodiment of the present application, the control room end also includes a first indicator object—indicator light 1, and the vehicle end also includes a second indicator object—indicator indicator light 2, and the difference between indicator light 1 and indicator light 2 in the remote control process is used. The signal allows the operator to intuitively perceive the remote control delay information. Exemplarily, first, the operator controls the operation unit, the sensor processing unit collects and sends it to the computing unit, the computing unit transmits the steering wheel rotation information to the vehicle end through the public network, and at the same time the local control unit issues an instruction to light up the indicator light 1, at this time The indicator light 1 is directly lit; secondly, according to the received steering wheel rotation information, the vehicle transmits the steering wheel rotation information to the control unit through the communication unit, and the control unit transmits the steering wheel rotation information to the execution unit to execute the rotation of the steering wheel. At the same time, the control unit Issue the instruction to light up indicator light 2, at this time indicator light 2 is lit, that is to say, from the start of remote control to the lighting signal of indicator light 2 passes through channels b-c-d-e-f-h; again, the vehicle camera capture includes indicator light 2 The image information is transmitted to the monitoring unit at the control room side via the channel i-j-k-m-n-p, and the indicator light 3 in the image in the monitoring unit corresponds to the actual indicator light 2 in the vehicle end. Among the above signal loops, the transmission delay is relatively large and difficult to determine mainly include: in the two loops d and m of the public network, which will fluctuate greatly according to the quality of network communication, and the processing of the calculation unit and the control unit will also introduce relatively large delays. A small delay will also fluctuate less according to the processing of the task. In the embodiment of the present application, the operator can intuitively feel the overall delay in the entire circuit by observing the signal interval between the indicator light 1 and the virtual indicator light 3 in the monitoring unit at the control room end, which is convenient for the operator to adjust according to the overall delay Control timing and improve the reliability of remote control.

The following introduces a remote control delay measurement method provided by the present application. FIG. 2 is a flowchart of a remote-controlled delay measurement method provided by an embodiment of the present application. The present application provides the method operation steps as described in the embodiment or the flowchart, but based on conventional or non-creative work, it may include more more or fewer steps. The sequence of steps enumerated in the embodiments is only one of the execution sequences of many steps, and does not represent the only execution sequence. When an actual system or server product is executed, it can be executed sequentially or in parallel (for example, in a parallel processor or multi-threaded processing environment) according to the embodiments or the methods shown in the accompanying drawings. Referring to FIG. 2 , a remote control delay measurement method provided by an embodiment of the present application may include the following steps:

S100: The control terminal generates remote control information in response to the control operation performed by the operating device based on the control terminal, and sends the remote control information to the remote terminal.

In the embodiment of the present application, the remote control system generally includes a control terminal and a remote terminal, and the control terminal and the remote terminal may be connected through a local area network or a wide area network communication. The operator can control the actual device at the remote end by simulating the operation device at the control end, and receive the operation feedback information returned by the remote end. In this process, affected by the quality of network communication and the time-consuming effect of electronic circuit processing, the operation of the control terminal and the execution of the remote terminal cannot be completely synchronized, and there is a certain delay in the middle, which is not conducive to the operator's judgment. Security has an impact. Therefore, in view of this situation, the present application proposes a remote control delay measurement method.

In an embodiment of the present application, specifically, as shown in FIG. 3 , the step S100 may include the following steps:

S110: Acquire sensor data in response to the control operation performed by the operating device based on the control terminal.

For the control operation performed by the operating device or operating unit based on the control end, the sensor collects the corresponding control data, for example, the operator turns the simulated steering wheel of the control end, and the sensor can collect the rotation angle and rotation direction of the steering wheel.

S130: Calculate and generate remote control information based on sensor data.

Specifically, the sensor sends the collected sensor data to the computing device of the control end, and the computing device converts the remote control information according to the sensor data, so that the execution device of the remote end performs specific operations according to the remote control information.

S150: Based on the first network device of the control end, send the remote control information to the remote end.

Possibly, based on the first network device of the control end, the remote control information is sent to the remote end via the public network, and is received and forwarded by the second network device of the remote end.

The control terminal including the operating device, the sensor device, the computing device, and the first network device shown in the above-mentioned embodiment is a feasible control terminal architecture provided by the embodiment of the present application, and may also be other types according to the remote control type and service requirements. architecture, which is not limited in this embodiment of the present application.

S200: In response to the remote control information, the control end controls the first indication object of the control end to send a first indication signal.

In the embodiment of the present application, when the control end sends the remote control information to the remote end, the first indication object that controls the locality sends the first indication signal. The first indication object may be a physical object or a virtual object, such as a physical indicator light or a virtual indicator light. At this time, the first indication signal may indicate the ON state, the OFF state or the display color change state of the first indication object. The first indication The sending time of the signal can characterize the response time of the control terminal.

In a feasible implementation manner, the control of the first indication object of the control terminal to send out the first indication signal in response to the remote control information may include the following steps:

S210: In response to the remote control information, generate a first directed object control instruction.

Possibly, the control terminal is provided with a local control device for generating a first referent control instruction in response to a control operation or in response to remote control information, and sending the first referent control instruction to the first referent, and the first referent control instruction is sent to the first referent. An instruction object control instruction is used to send out a corresponding instruction signal.

S230: According to the first instruction object control instruction, control the first instruction object of the control terminal to send a first instruction signal.

Feasible, the first indication object of the control terminal sends out a first indication signal in response to the control instruction of the first indication object, such as turning on or off the indicator light or changing the display color, etc. The first indication signal can also be a periodic change. Signal. Wherein, the first indication object may be located in the control room where the operator is located, and within the operator's field of vision, the operator may intuitively observe the first indication signal. The first indication object may be a concrete object such as an indicator light, or may be a virtual indicator light displayed on the screen.

When the first indication object is a virtual indicator light, the first indication object is an image in a specific, local area on the information display device, and the area occupied by the first indication object may be a non-critical image area for remote driving. The image can be changed according to the control instruction of the first indication object and displayed on the screen of the information display device. The lighting and extinguishing of the virtual indicator light can be used to indicate the time when the local control device issues the control instruction of the first indication object, or it can be Used to indicate the response time of the control side. Using virtual indicator lights, the response time, processing delay and other information of the control terminal can be visually displayed on the information display device without adding system hardware equipment, which is convenient for operators to observe, and also reduces the difficulty of system implementation.

In the above embodiment, in response to the remote control information, the first indication object is controlled to send out the first indication signal. In addition, before the remote control information is generated, that is, when the sensor device collects the sensor data, the first indicator object is controlled to issue the first indicator signal, that is, the processing time of the computing device is included in the overall delay, so that the final determined Delay information is more accurate.

S300: In response to the remote control information, the remote end controls the second indication object of the remote end to send out a second indication signal.

In the embodiment of the present application, after the remote end receives the remote control information sent by the control end, on the one hand, the remote control information is sent to the corresponding execution device to perform a specific control operation, and on the other hand, it controls the second indication object located at the remote end Send out a second indication signal, wherein the second indication object can be a physical object or a virtual object, such as a physical indicator light or a virtual indicator light, at this time, the second indication signal can indicate the on state, off state or display color of the second indicator object Change the state, etc., the sending time of the second indication signal can represent the response time of the remote end.

In an embodiment of the present application, as shown in FIG. 4 , the step S300 may include:

S310: Based on the second network device of the remote end, receive the remote control information sent by the control end, and send the remote control information to the control device of the remote end.

Possibly, the remote control information of the control end is received by the second network device of the remote end through the public network, and forwarded to the control device of the remote end.

S330: The control device at the remote end generates a second object control instruction in response to the remote control information.

In response to the remote control information, the control device at the remote end generates a second object control instruction for the first instruction object, and sends the second instruction object control instruction to the second instruction object, where the second instruction object control instruction is used to issue a corresponding indicator signal.

At the same time, the remote control device will also send remote control information to the corresponding execution device to perform specific control operations.

S350: According to the second object control instruction, control the second indicating object of the remote end to send out a second indicating signal.

Feasible, in response to the second object control instruction, the second indication object of the remote end sends out a corresponding second indication signal, such as turning on, turning off or changing the display color of the indicator light, etc. The second indication signal may also be periodic. change signal. If the second indicating object is a solid object, its installation position on the remote end should fall within the field of view of the remote end camera so that the camera can collect the status image information of the second indicating object. If the second indicating object is a virtual object such as a virtual indicator light , the second indicating object is an image in a specific and local area on the camera screen, the area occupied by the second indicating object may be a non-critical image area for remote driving, and the image in this area can be controlled according to the second indicating object. After changing, the on and off of the virtual indicator light can be used to indicate the time when the control device of the remote end sends out the control command of the second instructing object, and can also be used to indicate the response time of the remote end. Using virtual indicator lights, the response time, processing delay and other information of the remote end can be represented by image changes without increasing the system hardware equipment, which increases the feasibility of the practical application of the system.

The remote terminal including the second network device, the control device, etc. shown in the above embodiment is a feasible remote terminal architecture provided by the embodiments of the present application. According to the remote control type and service requirements, other architectures may also be used. This application implements The example does not limit this.

S400: The remote end collects image information based on the image acquisition device of the remote end, and sends the image information to the control end, where the image information includes a second indication object and a second indication signal sent by the second indication object.

In an embodiment of the present application, the image information within the field of view is collected by an image collection device such as a camera at the remote end. It can be understood that the second indicated object falls within the field of view of the camera. If the second indicated object does not fall within the field of view of the camera, the angle or focal length of the camera can be adjusted to clearly capture the required image information.

In an embodiment of the present application, the image information is finally received by the information display device at the control end via the control device, communication device, public network, and communication device and computing device at the control end.

S500: The control terminal displays image information on an information display device of the control terminal.

It is feasible to decompress and decode the received compressed and encoded image information, and display the image information on the information display device. In order to distinguish the second indicating object on the remote end from the second indicating object displayed on the information display device, the third indicating object can be used to represent the second indicating object displayed on the information displaying device. It can be known that the third indicating object is a virtual The second instructing signal changes the state of the third instructing object, such as the on state, the off state, or the state of changing the display color.

S600: Determine delay information according to the first indication signal and the second indication signal displayed on the information display device.

In an embodiment of the present application, the delay information is determined according to the time interval between the first indication signal and the second indication signal displayed on the information display device.

Feasible, the indication signals are all the lighting of the indicator light, and the operator can judge the actual lighting time difference between the first indication object and the third indication object (that is, the image of the second indication object) on the information display device. delay. The delay generated by the above-mentioned process of sending remote control information and returning image information is consistent with the delay generated by the process of the control terminal performing the simulation operation and the remote terminal responding to the specific control operation. In addition to indicating the delay of the public network, the time measurement method also includes the processing delay of computing devices, communication devices, control devices, etc., which is more practical, especially when using non-real-time operating systems such as Linux and Windows.

In another embodiment of the present application, as shown in FIG. 5 , the method may further include:

S100: The control terminal generates remote control information in response to the control operation performed by the operating device based on the control terminal, and sends the remote control information to the remote terminal.

S200: In response to the remote control information, the control end controls the first indication object of the control end to send a first indication signal.

In the above-mentioned embodiment, step S100 and step S200 are similar to the steps in the above-mentioned embodiment, and are not repeated here.

S700: The remote terminal generates control response information in response to the remote control information, and sends the control response information to the control terminal.

Possibly, the control device at the remote end generates control response information according to the execution feedback information of the execution device, and sends the control response information to the control end through the second network device at the remote end via the public network.

S800: In response to the control response information, the control end controls the first indication object of the control end to send a third indication signal.

Possibly, the control device at the control end generates a control instruction for the first indication object according to the control response information, so that the first indication object sends a third indication signal.

S900: Determine delay information according to the first indication signal and the third indication signal.

Feasible, according to the time interval between the first indication signal and the third indication signal sent by the first indication object, the delay information is determined, and the operator can intuitively feel it according to the observation of the first indication signal and the third indication signal. The delay of the entire remote control loop is convenient for adjustment and operation.

In another embodiment of the present application, the first indication object may be a speaker (including a physical speaker or a virtual speaker), the first indication signal represents the sound or silence of the first indication object, and the third indication signal also represents the sound of the first indication object. beep or mute to describe the first pointing object.

Exemplarily, the control device at the control end issues an instruction to make the speaker continuously emit a "beep" sound after responding to the control operation; after receiving the returned control response information, it issues an instruction to mute the speaker, and the operator can make a sound according to the duration of the sound. Time to judge the overall delay of the loop.

Exemplarily, the control device at the control end issues an instruction after responding to the control operation to make the speaker continue to emit a “beep” sound for a short preset time; and issues an instruction after receiving the returned control response information to make the speaker again. A "beep" sound is issued, and the operator can judge the overall delay of the loop according to the time interval between the two beeps.

It can be seen from the above-mentioned embodiments that when the solution provided by the present application performs a control operation at the control end, in response to the remote control information corresponding to the control operation, the control end controls the first indication object to send out the first indication signal; when the remote end receives the remote control When the information is displayed, the second indicating object of the control remote end sends out a second indicating signal, and collects image information including the second indicating object and the second indicating signal, sends the image information back to the control end, and displays it on the information display device of the control end Image information, the operator can intuitively feel the delay in the actual operation by observing the first indication signal and the second indication signal at the control end. This delay is the overall delay of the remote control loop, which has more practical application significance and can Improve the reliability of remote operations.

The embodiment of the present application also provides a remote-controlled delay measurement device 600, which is applied to the control terminal. As shown in FIG. 6, the device 600 may include:

an information generating module 610, configured to generate remote control information in response to a control operation performed by an operating device based on the control terminal;

The first indicator object control module 620 is configured to control the first indicator object of the control terminal to send out a first indicator signal in response to the remote control information;

a first information sending module 630, configured to send the remote control information to the remote end so that the remote end controls the second indication object of the remote end to send a second indication signal in response to the remote control information;

The first information receiving module 640 is configured to receive the image information collected and sent by the remote terminal, and display the image information on the information display device of the control terminal; the image information includes the second indication object and all the second indication signal sent by the second indication object;

The delay determination module 650 is configured to determine delay information according to the first indication signal and the second indication signal displayed on the information display device.

In an embodiment of the present application, the first pointer control module 620 may include:

a first instruction generation unit, configured to generate a first instruction object control instruction in response to the remote control information;

The first control unit is configured to control the first indication object of the control terminal to send out the first indication signal according to the first indication object control instruction.

In an embodiment of the present application, the delay determination module 650 may include:

A first delay determination unit, configured to determine the delay information according to the first indication signal and the time interval of the second indication signal displayed on the information display device.

In an embodiment of the present application, the information generating module 610 may include:

a data acquisition unit, configured to acquire sensor data in response to a control operation performed by an operating device based on the control terminal;

a computing unit for computing and generating remote control information based on the sensor data;

A first information sending unit, configured to send the remote control information to the remote end based on the first network device of the control end.

In an embodiment of the present application, the apparatus 600 may further include:

a second information sending unit, configured to send the remote control information to a remote terminal so that the remote terminal generates control response information in response to the remote control information;

a first information receiving unit, configured to receive the control response information returned by the remote end;

a third control unit, configured to control the first indication object of the control terminal to send out a third indication signal in response to the control response information;

a second delay unit, configured to determine delay information according to the first indication signal and the third indication signal;

Wherein, the first indication object is a speaker, the first indication signal represents the sound or mute of the first indication object, and the third indication signal represents the sound or mute of the first indication object.

It should be noted that, when implementing the functions of the device provided in the above-mentioned embodiments, only the division of the above-mentioned functional modules is used as an example. The internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process thereof is detailed in the method embodiments, which will not be repeated here.

The embodiment of the present application also provides a remote-controlled delay measurement device 700, which is applied to a remote end. As shown in FIG. 7, the device 700 may include:

The second information receiving module 710 is used for receiving the remote control information sent by the control terminal;

The second designation object control module 720 is configured to control the second designation object of the remote terminal to send out a second designation signal in response to the remote control information;

an information collection module 730, configured to collect image information based on the image collection device of the remote end, where the image information includes the second indication object and the second indication signal sent by the second indication object;

The second information sending module 740 is configured to send the image information to the control terminal, so as to display the image information on the information display device of the control terminal and make the control terminal display the image information according to the information display device The second indication information of , determines delay information.

In an embodiment of the present application, the second information receiving module 710 and the second indicating object control module 720 may include:

A second information receiving unit, configured to receive the remote control information sent by the control terminal based on the second network device of the remote terminal, and send the remote control information to the control device of the remote terminal;

a second instruction generation unit, used for the control device to generate a second object control instruction in response to the remote control information;

The second control unit is configured to control the second indicating object of the remote end to send out a second indicating signal according to the second object control instruction.

It should be noted that, when implementing the functions of the device provided in the above-mentioned embodiments, only the division of the above-mentioned functional modules is used as an example. The internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process thereof is detailed in the method embodiments, which will not be repeated here.

An embodiment of the present application provides a computer device, the computer device includes a processor and a memory, the memory stores at least one instruction or at least a piece of program, and the at least one instruction or the at least one piece of program is loaded and executed by the processor to A remote control delay measurement method provided by the above method embodiments is implemented.

FIG. 8 shows a schematic diagram of the hardware structure of a device for implementing a remote control delay measurement method provided by an embodiment of the present application. The device may participate in forming or include the apparatus provided by the embodiment of the present application or system. As shown in FIG. 8, device 10 may include one or more (shown as 1002a, 1002b, . device FPGA etc.), memory 1004 for storing data, and transmission means 1006 for communication functions. In addition, may also include: display, input/output interface (I/O interface), universal serial bus (USB) port (may be included as one of the ports of the I/O interface), network interface, power supply and/or camera. Those of ordinary skill in the art can understand that the structure shown in FIG. 8 is only a schematic diagram, which does not limit the structure of the above-mentioned electronic device. For example, device 10 may also include more or fewer components than shown in FIG. 8 , or have a different configuration than that shown in FIG. 8 .

It should be noted that the one or more processors 1002 and/or other data processing circuits described above may generally be referred to herein as "data processing circuits." The data processing circuit may be embodied in whole or in part as software, hardware, firmware or any other combination. Furthermore, the data processing circuitry may be a single stand-alone processing module, or incorporated in whole or in part into any of the other elements in device 10 (or mobile device). As referred to in the embodiments of the present application, the data processing circuit acts as a kind of processor control (eg, selection of a variable resistance termination path connected to an interface).

The memory 1004 can be used to store software programs and modules of the application software, such as program instructions/data storage devices corresponding to the methods described in the embodiments of the present application, the processor 1002 executes the software programs and modules stored in the memory 1004 by running the software programs and modules. Various functional applications and data processing, namely the realization of the above-mentioned remote control delay measurement method. Memory 1004 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, memory 1004 may further include memory located remotely from processor 1002, which may be connected to device 10 through a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

Transmission means 1006 is used to receive or transmit data via a network. The specific example of the above-mentioned network may include a wireless network provided by the communication provider of the device 10 . In one example, the transmission device 1006 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through the base station so as to communicate with the Internet. In one example, the transmission device 1006 may be a radio frequency (Radio Frequency, RF) module, which is used for wirelessly communicating with the Internet.

The display may be, for example, a touch screen-style liquid crystal display (LCD) that enables a user to interact with the user interface of the device 10 (or mobile device).

Embodiments of the present application further provide a computer-readable storage medium, where the computer-readable storage medium can be set in a server to store at least one item related to a delay measurement method for implementing a remote control in the method embodiment An instruction or at least one segment of program, the at least one instruction or at least one segment of program is loaded and executed by the processor to implement a remote control delay measurement method provided by the above method embodiment.

Optionally, in this embodiment, the above-mentioned storage medium may be located in at least one network server among multiple network servers of a computer network. Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk Or various media such as optical discs that can store program codes.

Embodiments of the present invention also provide a computer program product or computer program, where the computer program product or computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes a remote-controlled delay measurement method provided in the above-mentioned various optional embodiments.

It can be seen from the above-mentioned embodiments of the remote control delay measurement method, device and medium provided by the present application,

In the solution provided by the present application, when the control end performs a control operation, in response to the remote control information corresponding to the control operation, the control end controls the first indication object to issue a first indication signal; when the remote end receives the remote control information, it controls the remote control The second indication object sends out a second indication signal, collects image information including the second indication object and the second indication signal, transmits the image information back to the control terminal, and displays the image information on the information display device of the control terminal. By observing the first indication signal and the second indication signal, the control terminal can intuitively feel the delay in the actual operation. This delay is the overall delay of the remote control loop, which has more practical application significance and can improve the reliability of remote operation. .

It should be noted that: the above-mentioned order of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that in the embodiments and still achieve desirable results. Additionally, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Each embodiment in this application is described in a progressive manner, and the same and similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the apparatus, device, and storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for related parts.

Those of ordinary skill in the art can understand that all or part of the steps of implementing the above embodiments can be completed by hardware, or can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. The storage medium mentioned may be a read-only memory, a magnetic disk or an optical disk, etc.

The above are only preferred embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection of the present application. within the range.

Claims (10)

1. A remote control delay measurement method is applied to a control end, and comprises the following steps:

generating remote control information in response to a control operation performed based on an operation device of the control terminal;

responding to the remote control information, and controlling a first indication object of the control end to send out a first indication signal;

sending the remote control information to a remote end so that the remote end responds to the remote control information to control a second indication object of the remote end to send out a second indication signal;

receiving image information collected and sent by the remote end, and displaying the image information on an information display device of the control end; the image information comprises the second indicating object and the second indicating signal sent by the second indicating object;

and determining delay information according to the first indication signal and the second indication signal displayed on the information display device.

2. The method according to claim 1, wherein the first indication object is a physical indicator light or a virtual indicator light, the first indication signal represents lighting or lighting-off of the first indication object, and the controlling the first indication object of the control end to emit the first indication signal in response to the remote control information comprises:

generating a first indication object control instruction in response to the remote control information;

and controlling a first indication object of the control end to send the first indication signal according to the first indication object control instruction.

3. The method of claim 1, wherein determining delay information based on the first indicator signal and the second indicator signal displayed on the information display device comprises:

and determining the delay information according to the first indication signal and the time interval of the second indication signal displayed on the information display device.

4. The method according to claim 1, wherein the generating and transmitting remote control information to a remote end in response to a control operation performed based on an operation device of the control end comprises:

acquiring sensor data in response to a control operation performed based on an operation device of the control terminal;

calculating and generating remote control information based on the sensor data;

and sending the remote control information to the remote terminal based on the first network device of the control terminal.

5. The method of claim 1, further comprising:

sending the remote control information to a remote end so that the remote end generates control response information in response to the remote control information;

receiving the control response information returned by the remote end;

responding to the control response information, controlling a first indication object of the control end to send out a third indication signal;

determining delay information according to the first indication signal and the third indication signal;

the first indication object is a loudspeaker, the first indication signal represents the sound or silence of the first indication object, and the third indication signal represents the sound or silence of the first indication object.

6. A remote control delay measurement method is applied to a remote end, and comprises the following steps:

receiving remote control information sent by a control end;

responding to the remote control information, and controlling a second indication object of the remote end to send out a second indication signal;

acquiring image information based on the image acquisition device of the remote end, wherein the image information comprises the second indication object and the second indication signal sent by the second indication object;

and sending the image information to the control end so as to display the image information on an information display device of the control end and enable the control end to determine delay information according to the second indication information displayed on the information display device.

7. The method according to claim 6, wherein the receiving control end sends remote control information; and responding to the remote control information, controlling a second indication object of the remote end to send out a second indication signal, wherein the method comprises the following steps:

receiving remote control information sent by a control end based on a second network device of the remote end, and sending the remote control information to a control device of the remote end;

the control device responds to the remote control information and generates a second object control instruction;

and controlling a second indication object of the remote end to send out a second indication signal according to the second object control instruction.

8. A remote controlled delay measuring device, applied to a control end, the device comprising:

the information generation module is used for responding to the control operation executed based on the operation device of the control end and generating remote control information;

the first indication object control module is used for responding to the remote control information and controlling a first indication object of the control end to send out a first indication signal;

the first information sending module is used for sending the remote control information to a remote end so that the remote end responds to the remote control information to control a second indication object of the remote end to send out a second indication signal;

the first information receiving module is used for receiving the image information acquired and sent by the remote end and displaying the image information on an information display device of the control end; the image information comprises the second indicating object and the second indicating signal sent by the second indicating object;

and the delay determining module is used for determining delay information according to the first indicating signal and the second indicating signal displayed on the information display device.

9. A remote controlled delay measuring device, applied to a remote end, the device comprising:

the second information receiving module is used for receiving the remote control information sent by the control end;

the second indication object control module is used for responding to the remote control information and controlling a second indication object of the remote end to send out a second indication signal;

the information acquisition module is used for acquiring image information based on the image acquisition device of the remote end, wherein the image information comprises the second indication object and the second indication signal sent by the second indication object;

and the second information sending module is used for sending the image information to the control end so as to display the image information on an information display device of the control end and enable the control end to determine delay information according to the second indication information displayed on the information display device.

10. A computer-readable storage medium, having stored thereon at least one instruction or at least one program, which is loaded and executed by a processor, to implement a method of remotely controlling delay measurement as claimed in any of claims 1 to 7.

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