| CPC G05D 1/0022 (2013.01) [H04L 45/124 (2013.01); H04L 45/586 (2013.01)] | 8 Claims |
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1. A control apparatus for controlling communication between an operating device and one or a plurality of slave robots in a telexistence system including the one or the plurality of slave robots, one operating device for controlling the motion of the one or the plurality of slave robots, and a plurality of virtual routers for forming a communication path for transmitting information between the operating device and the one or the plurality of slave robots, the control apparatus comprising:
a state acquisition part that repeatedly acquires status reports respectively from the operating device, the one or the plurality of slave robots, and the plurality of virtual routers while communication between the operating device and the one or the plurality of slave robots is established;
a path determination part that determines a communication path for transmitting a control instruction for controlling the motion of the one or the plurality of slave robots to the one or the plurality of slave robots on the basis of the acquired status reports when the state acquisition part acquires the status reports; and
an instruction transmitting part that transmits an instruction for forming the communication path determined by the path determination part to each of the plurality of virtual routers,
wherein the path determination part includes:
a score calculator that calculates a score indicating a communication capability of each communication path for each candidate for a plurality of communication paths connecting the operating device and the one or the plurality of slave robots on the basis of the status reports, and
a path selector that selects a candidate for the communication path with the score calculated by the score calculator indicating that the communication capability is high as the communication path connecting the operating device and the one or the plurality of slave robots with priority over a candidate for the communication path with the score calculated by the score calculator indicating that the communication capability is low,
the status reports include at least a statistic related to each of a bandwidth, a latency, a jitter, a packet loss rate, a packet rearrangement rate, and an error correction rate related to communication between the operating device and the one or the plurality of slave robots, and the score calculator calculates the score on the basis of the statistic related to each of the bandwidth, the latency, the jitter, the packet loss rate, the packet rearrangement rate, and the error correction rate related to communication between the operating device and the one or the plurality of slave robots,
the statistic includes a maximum value, a minimum value, and an average value for each item of the bandwidth, the latency, the jitter, the packet loss rate, the packet rearrangement rate, and the error correction rate,
the score calculator calculates a value by multiplying a value, which is obtained by normalizing a difference between the average value and the minimum value with a difference between the maximum value and the minimum value for each item, by a weighting factor that is different for each item, and calculates a total sum of the calculated values as the score, and
the control apparatus further comprises a scenario information acquisition part that acquires operation scenario information indicating a purpose of operating the one or the plurality of slave robots using the operating device, wherein the score calculator changes the weighting factor on the basis of the operation scenario information.
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