CN111993424A - Interoperation middleware testing system and method for heterogeneous mobile robot - Google Patents
Interoperation middleware testing system and method for heterogeneous mobile robot Download PDFInfo
- Publication number
- CN111993424A CN111993424A CN202010839876.0A CN202010839876A CN111993424A CN 111993424 A CN111993424 A CN 111993424A CN 202010839876 A CN202010839876 A CN 202010839876A CN 111993424 A CN111993424 A CN 111993424A
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- node
- middleware
- robot
- interoperation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a system and a method for testing interoperation middleware of a heterogeneous mobile robot, wherein the system comprises a control terminal node, a plurality of mobile robot nodes with different architectures and a virtual scene presenting node, wherein the nodes are communicated through a network; the control terminal node and each mobile robot node are provided with interoperation middleware to carry out interaction among all internal processes; the mobile robot node adopting the RCS framework and the mobile robot node adopting the ROS framework respectively construct a control system of the robot based on the two frameworks, and different quantities of the mobile robot nodes can be started according to task types. The invention provides an interoperation middleware testing system of heterogeneous mobile robots aiming at the real use of the mobile robots, which can test the general control capability and interoperation capability of various heterogeneous mobile robots of the middleware; the system can be applied to the function and performance test of various cross-operating-system and cross-different-software-architecture robot interoperation middleware.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a system and a method for testing an interoperation middleware of a heterogeneous mobile robot.
Background
Interoperability is the ability to exchange information between two or more platforms and to mutually utilize the exchanged information. The research on the interoperability of the mobile robot provides guarantee for developing a unified control terminal, realizing the cross-domain (sea, land and air) interoperation, rapidly and seamlessly fusing and accessing platform task units in real time and the like, and has important significance for the development of all robots in the future.
Because the control protocol, the network transmission protocol and the control port definition among the current mobile robot platforms are different, the problems of non-uniform capability description, non-uniform interface standard, non-universal control method and the like exist in a sensor and a controller, so that a plurality of difficulties exist in information interaction among mobile robots, and the coordination efficiency of the mobile robots is very low. At present, ROS, 4D/RCS, JAUS, unmanned system combined architecture and the like are adopted as the system architecture aiming at the mobile robot. The interworking and interworking between these heterogeneous mobile robots is an urgent problem to be solved.
The middleware is a key technology for improving the interoperability of the robot system in the aspects of control, communication, data and the like, and provides an effective means for ensuring the cooperative cooperation and effective integration among the robots. At present, an interoperation middleware testing system of the heterogeneous mobile robot is lacked in China, and the consistency, the integrity and the real-time performance of data exchange of a heterogeneous robot platform are tested through task-driven interoperation middleware integration, testing and evaluation, so that the general control capability and the interoperation capability of the heterogeneous robot are evaluated.
Disclosure of Invention
Aiming at mobile robots under two typical architectures of ROS and RCS, the invention provides a system and a method for testing interoperation middleware of a heterogeneous mobile robot, wherein the system comprises an operation control terminal (OCU), a plurality of mobile robot nodes with different architectures and virtual scene presentation nodes; the nodes are computers with deployed special function software and interoperation middleware, and the computers are in network communication through a switch and support information interaction among all components. The mobile robot node adopting the RCS framework and the mobile robot node adopting the ROS framework respectively construct a control system of the robot based on the two frameworks, and different quantities of the mobile robot nodes can be started according to task types.
In order to achieve the above object, the present invention provides an interoperation middleware testing system of a heterogeneous mobile robot, comprising: the system comprises a control terminal node, a plurality of mobile robot nodes with different architectures and a virtual scene presenting node, wherein the nodes are communicated through a network; the control terminal node and each mobile robot node are provided with interoperation middleware to carry out interaction among all internal processes;
the control terminal node is used for setting the working mode of the mobile robot and sending a task and/or a remote control instruction to the mobile robot node; receiving the state of the robot model, and judging whether the interoperability of the interoperation middleware is normal or not;
the mobile robot node receives the task, receives the state of the robot model fed back by the virtual scene presenting node, sends the state to the control terminal node, generates a corresponding control instruction based on the task and the state of the robot model, and sends the control instruction to the virtual scene presenting node;
the virtual scene presenting node constructs a virtual scene and a plurality of robot models; and receiving the control instruction, driving the corresponding robot model in the virtual scene to move, and feeding back the state of the robot model to the mobile robot node.
Preferably, the mobile robot node comprises a task receiving and state feedback module, a decision and motion control module and a virtual scene interaction module;
the task receiving and state feedback module receives the task and sends the state of the robot model to the control terminal node;
the decision and motion control module generates a control instruction according to the task and the state of the robot model; when the received task is a formation task, determining the self role, calculating a target point and generating a control instruction;
and the virtual scene interaction module interacts with the virtual scene presenting node, sends a control instruction and receives the state of the robot model fed back by the virtual scene presenting node.
Preferably, the mobile robot node task receiving and state feedback module, the decision and motion Control module and the virtual scene interaction module are implemented by an Interface process (Interface), a Control process (Control), a local service process (LocalServer) and a USARSim Interface process (usarsimidinterface);
the Interface process (Interface) is used for receiving the task and sending the state of the robot model to the control terminal node;
the Control process (Control) is used for generating a Control instruction according to the task and the state of the robot model; when the received task is a formation task, determining the self role, calculating a target point and generating a control instruction;
the local service process (LocalServer) is used for establishing a communication channel;
and the USARSim interface process (USARSim interface) is used for sending a control instruction and receiving the control instruction from the virtual scene presenting node, so as to drive the corresponding robot model in the virtual scene presenting node to move.
Preferably, the mobile robot nodes include a mobile robot node adopting an RCS architecture and a mobile robot node adopting an ROS architecture, and the processes interact with each other through an RCS architecture interoperation middleware and an ROS architecture interoperation middleware, respectively.
Preferably, the control terminal node comprises a remote control instruction sending module, an autonomous path following task sending module, a formation task sending module, a pose display module and a judgment module;
the remote control instruction sending module selects the IP addresses of the mobile robot nodes with different architectures in a remote control mode, and sends expected linear velocity v and angular velocity omega after connection; judging the difference between the received linear velocity and angular velocity of the robot model and the expected linear velocity v and angular velocity omega, and if the difference is within a threshold value, judging that the interoperation middleware of the corresponding mobile robot nodes with different architectures has a normal function of receiving remote control commands; otherwise, judging that the interoperation middleware of the corresponding mobile robot node with different architectures receives the remote control command and has abnormal function;
the autonomous path following task sending module selects the IP address of a single mobile robot node with different architectures in an autonomous mode, and sends a set global path point after connection; judging the motion path of the received robot model, calculating the sum of the distances from the set global path point to the motion path pair, and if the sum is smaller than a set threshold value, judging that the interoperation middleware of the corresponding mobile robot nodes with different architectures receives the autonomous motion control instruction and has normal function; otherwise, judging that the interoperation middleware of the corresponding mobile robot node with different architectures receives the abnormal autonomous motion control instruction function;
the formation task sending module selects IP addresses of a plurality of mobile robot nodes with different architectures in a formation mode, and sends role and formation information after connection; calculating formation information at each moment according to the received motion paths of the robot models, comparing the formation information with the sent formation information, and outputting an interoperation middleware formation motion control function of the corresponding mobile robot nodes with different architectures if the deviation of one robot model at a certain moment exceeds a threshold value;
the pose display module is used for setting a task target point and a task path; the state of the receiving robot model is displayed in numerical and graphical form.
Preferably, the virtual scene presenting node comprises an Unreal engine, an Unreal client, Gamebots and a USARSim platform;
constructing a scene map through an Unreal engine; rendering various objects in the scene map through an Unreal client; the method comprises the following steps of realizing communication between an Unreal engine and a USARSim interface process (USARSim interface) through Gamebots software according to a customized message protocol; the method comprises the steps of constructing a robot model and a sensor model in a USARSim platform, receiving a control instruction sent by an interface process (USARSim interface), controlling the robot model to move, and acquiring the position and the posture of the robot model in real time by the sensor model and sending the position and the posture to the interface process (USARSim interface).
In another aspect, the present invention provides a method for testing an interoperation middleware testing system of a heterogeneous mobile robot, including the steps of:
(1) deploying the interoperation middleware of the control terminal node to a Windows operating system; deploying the interoperation middleware of the framework corresponding to each mobile robot node to a Ubuntu operating system, and realizing the integration with an Interface process (Interface);
(2) selecting a test mode, and sending a task and/or a remote control instruction to the mobile robot node; and receiving the state of the robot model, and judging whether the interoperability of the interoperation middleware is normal or not.
Preferably, then: the remote control instruction sending module selects the IP addresses of the mobile robot nodes with different architectures, and sends the expected linear velocity v and the expected angular velocity omega after connection; judging the difference between the received linear velocity and angular velocity of the robot model and the expected linear velocity v and angular velocity omega, and if the difference is within a threshold value, judging that the interoperation middleware of the corresponding mobile robot nodes with different architectures has a normal function of receiving remote control commands; otherwise, judging that the interoperation middleware of the corresponding mobile robot node with different architectures receives the remote control command and has abnormal function.
Preferably, if the test mode is selected to be the autonomous mode: the autonomous path following task sending module selects the IP addresses of the mobile robot nodes with different architectures, and sends the set global path point after connection; judging the motion path of the received robot model, calculating the sum of the distances from the set global path point to the motion path pair, and if the sum is smaller than a set threshold value, judging that the interoperation middleware of the corresponding mobile robot nodes with different architectures receives the autonomous motion control instruction and has normal function; otherwise, judging that the interoperation middleware of the corresponding mobile robot node with different architectures receives the abnormal autonomous motion control instruction function;
preferably, if the test mode is selected to be the formation mode: the formation task sending module selects IP addresses of a plurality of mobile robot nodes with different architectures, and sends role and formation information after connection; and calculating the formation information of each moment according to the received motion path of each robot model, comparing the formation information with the sent formation information, and outputting the corresponding interoperation middleware of the mobile robot nodes with different architectures to form a formation motion control function if the deviation of a certain robot model at a certain moment exceeds a threshold value.
The technical scheme of the invention has the following beneficial technical effects:
(1) the practicability is strong: the invention provides an interoperation middleware testing system of heterogeneous mobile robots aiming at the real use of the mobile robots, which can test the general control capability and interoperation capability of various heterogeneous mobile robots of the middleware.
(2) The application range is wide: the system can be applied to the function and performance test of various cross-operating-system and cross-different-software-architecture robot interoperation middleware, and has accurate test result and comprehensive coverage.
(3) The flexibility is high: the system can adapt to the increase and decrease of the number of the nodes of the robot and the seamless access of other nodes; namely, when a new node is added, corresponding modules can be easily integrated, and system scale and function expansion are realized.
(4) The operation is simple: the system of the invention has simple use process, convenient operation and convenient use for users.
Drawings
FIG. 1 is a diagram of the components of a test environment of the present invention.
Fig. 2 is a block diagram of the system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The invention provides an interoperation middleware testing system of a heterogeneous mobile robot, which comprises an operation control terminal (OCU) node, a mobile robot node adopting an RCS (remote control unit) architecture, a mobile robot node adopting an ROS (reactive oxygen species) architecture and a virtual scene presenting node, wherein the OCU node is connected with the mobile robot node; the nodes are computers with deployed special function software and interoperation middleware, and the computers are in network communication through a switch and support information interaction among all components. The mobile robot node adopting the RCS framework and the mobile robot node adopting the ROS framework respectively construct a control system of the robot based on the two frameworks, and different quantities of the mobile robot nodes can be started according to task types.
The operation control terminal runs under a Windows operating system, and has the main functions of being connected with the mobile robot, setting the working mode of the mobile robot, sending tasks and remote control instructions to the robot, and receiving and displaying state information fed back by each mobile robot. In the connection function, an IP address is selected through a human-computer interface, and a mobile robot to be connected (which can be connected with a plurality of robots at the same time) is designated; in the setting function of the working mode, three modes of remote control, autonomy and formation can be set; in the task sending function, task parameters are customized through a human-computer interface, and a task can be sent to one or more robot nodes. The task parameters comprise a task path, a formation scheme and the like; in the function of sending remote control commands, the running speed and the angular speed of the robot are set through a human-computer interface and can be issued to the designated robot; in the state display function, the pose and the running track of the mobile robot in the task execution process are mainly displayed in a digital and graphical mode.
The mobile robot nodes comprise mobile robot nodes adopting an RCS framework and mobile robot nodes adopting an ROS framework, and interaction is carried out between all processes through an RCS framework interoperation middleware and an ROS framework interoperation middleware respectively.
The mobile robot node adopting the RCS framework deploys mobile robot control system software, the system adopts libRCS developed by NIST as communication middleware, supports information interaction among modules of the control system, and mainly comprises a task receiving and state feedback module (interface module), a decision and motion control module, a virtual scene interaction module and the like. The task receiving and state feedback module realizes interaction with the interoperation middleware, receives and stores task information (including task paths, formation parameters and the like) to the machine, and feeds back pose information of the robot to a control end or other robots; the decision and motion control module realizes the behavior decision of the task and generates a control instruction for driving the robot to move; the virtual scene interaction module is used for acquiring robot perception sensor information (including laser radar measurement data and the current pose of the robot) from a virtual scene, receiving a robot motion control instruction and sending the robot motion control instruction to the virtual scene to drive the virtual robot to move. The virtual scene interaction module runs in an independent process mode and interacts with the communication assembly in the virtual scene in a two-way mode through network communication, on one hand, the virtual scene interaction module receives a control instruction and sends the control instruction to the communication assembly, and on the other hand, the virtual scene interaction module acquires sensor measurement information from the communication assembly and sends the sensor measurement information out for other modules to use.
A mobile robot control system is deployed by a mobile robot node adopting an ROS framework, the system performs interaction among modules in a data subscription/release mode, interactive contents adopt a standard message format in the ROS, the system mainly comprises a task receiving and state feedback module, a decision and motion control module, a virtual scene interaction module and the like, and functions of all modules are the same as those of the mobile robot node adopting the RCS framework.
The virtual scene presentation node is constructed based on a universal Engine developed by Epic Games, which is provided in the form of udk (universal Development kit). The mobile robot running scene with the telepresence characteristic is constructed by utilizing the UDK editor, and the task completion condition presentation of the mobile robot is supported; constructing a realistic three-dimensional geometric model of the mobile robot in a UDK editor through file format conversion and mapping operation based on the three-dimensional model of the mobile robot; and compiling a mobile robot driving model by using a UDK scripting language, and constructing a robot model with a certain sensor configuration scheme through configuration files.
Example one
As shown in fig. 1, the interoperation middleware testing system of the heterogeneous mobile robot includes 4 parts, namely, an operation control terminal (OCU), a mobile robot node adopting an RCS architecture, a mobile robot node adopting an ROS architecture, and a virtual scene presentation node.
The control terminal mainly sets the working mode of the mobile robot, can send tasks and remote control instructions to the robot, and receives and displays state information fed back by each mobile robot. The system comprises a remote control instruction sending module, an autonomous path following task sending module, a formation task sending module and a pose display module according to functional requirements.
(1) The remote control command sending module is mainly used for testing the motion response capability of a single mobile robot. In the remote control mode, it designates a specific robot to be connected for testing by selecting an IP address, and transmits desired linear velocity v and angular velocity ω to the corresponding mobile robot controller, thereby controlling the mobile robot motion in the USARSim virtual scene.
Judging the difference between the received linear velocity and angular velocity of the robot model and the expected linear velocity v and angular velocity omega, and if the difference is within a threshold value, judging that the interoperation middleware of the corresponding mobile robot nodes with different architectures has a normal function of receiving remote control commands; otherwise, judging that the interoperation middleware of the corresponding mobile robot node with different architectures receives the remote control command and has abnormal function.
(2) The autonomous path tracking task sending module is mainly used for testing the autonomous movement capability of a single mobile robot. In the autonomous mode, the IP address is selected, a specific mobile robot to be connected and tested is designated, and a preset global path point file is sent to a corresponding mobile robot controller, so that autonomous tracking motion control of a global path is realized.
Judging the motion path of the received robot model, calculating the sum of the distances from the set global path point to the motion path pair, and if the sum is smaller than a set threshold value, judging that the interoperation middleware of the corresponding mobile robot nodes with different architectures receives the autonomous motion control instruction and has normal function; otherwise, judging that the interoperation middleware of the corresponding mobile robot node with different architectures receives the abnormal autonomous motion control command function.
(3) The formation task sending module is mainly used for testing the formation coordination capacity of a plurality of mobile robots in the simulation system. In the formation mode, it selects the specific mobile robot to be tested by selecting the IP address. Meanwhile, a certain mobile robot needs to be designated as a pilot of a formation task through an IP address, other mobile robots become followers, and formation information including a target point, a speed, a relative position of a platform and the like needs to be sent.
Calculating formation information at each moment according to the received motion paths of the robot models, comparing the formation information with the sent formation information, and outputting an interoperation middleware formation motion control function of the corresponding mobile robot nodes with different architectures if the deviation of one robot model at a certain moment exceeds a threshold value;
(4) the pose display module is mainly used for setting a task target point and a task path, receiving pose data of the mobile robot in a USARSim virtual simulation scene fed back by all mobile robot controllers in the simulation system, and displaying poses and driving tracks of the mobile robot in the formation task execution process in a digital and graphical mode.
The mobile robot node adopting the RCS framework mainly comprises a task receiving and state feedback module, a decision and motion Control module, a virtual scene interaction module and the like, wherein the task receiving and state feedback module, the decision and motion Control module, the virtual scene interaction module and the like are respectively realized on software by four processes, namely, an Interface, a Control, a LocalServer and a USARSimInterinterface, each process runs according to respective period, the interaction among the processes is carried out through libRCS middleware, namely, reading/writing is carried out on a shared memory through establishing a channel, and message transmission is realized; all channels are established by LocalServer, the software deployment environment is Ubuntu 16.04, and the basic working flow is as follows:
step 1: the Interface process receives a task issued by the control terminal, and the USARSiminterface process receives the position and posture information of the robot acquired from the virtual scene;
step 2: the Control process generates a Control instruction according to the task and the state, and when a task path is received, the process generates a motion Control instruction for driving to a target point; and when a formation task is received, determining the self role according to the formation definition, calculating a target point and generating a motion control command.
And step 3: and the USARSimInterface process sends the generated robot motion control instruction to the virtual scene presenting node, so as to drive the corresponding robot model in the virtual simulation scene to move.
A mobile robot node Control system adopting an ROS framework comprises a task receiving and state feedback module, a decision and motion Control module and a virtual scene interaction module, wherein software is respectively realized by three processes, namely an Interface, a Control and a USARSimInterface, each process runs according to respective period, interaction among the processes is carried out through a message mechanism, namely topic is established, each module reads/writes message data ROS through publishing/subscribing to realize message transmission, the software deployment environment is a Ubuntu 16.04 operating system and ROS Kinetic, and the basic working flow is the same as that of a mobile robot node adopting the RCS framework.
And constructing a virtual scene presenting system based on USARSim and Unreal. The virtual scene presenting node comprises a scene map, a mobile robot model, a sensor model, an Unreal engine, an Unreal client and Gamebots. The scene map is constructed in a universal Editor, the mobile robot model and the sensor model are created through a universal Script language, the universal engine comprises a 3D (three-dimensional) graphic engine and a physical engine (Physx), high-quality reality is guaranteed, the universal client side renders the scene map and various objects in the scene map, and the Gamebots are responsible for communicating with a USARSiminterface interface process according to a customized message protocol. The basic workflow is as follows:
step 1: constructing a scene by using an unknown Editor provided by the UDK, and constructing various undulating terrains by using a terrain design function provided by the unknown Editor;
step 2: a robot model is built in USARSim, including a solid model exposed in a scene, classes for platform control (written in the universal Script language), and a sensor configuration scheme of the platform.
And step 3: the current pose of the robot is acquired in real time by configuring a positioning sensor on the robot model and is transmitted back to a USARSim interface process on each robot node;
and 4, step 4: receiving a robot motion control instruction of a USARSimInterface process, and driving a corresponding robot model in a virtual simulation scene to move; and collecting and feeding back the position and the posture of the robot model.
The process of testing the interoperation middleware by adopting the invention is as follows:
step 1: and at the control end, the interoperation middleware is deployed to the Windows operating system, the interaction with the control software is realized, and the tasks transmitted each time and the received feedback state information are recorded. And at the mobile robot end, the interoperation middleware is deployed on the Ubuntu operating system, the integration with an Interface module is realized, and the received task and the state information to be fed back are recorded.
Step 2: selecting the test mode as an autonomous mode; and testing the data and time sent and received by the interoperation middleware at the two ends, and evaluating the accuracy and the real-time performance of information interaction.
Example two
The invention is adopted to carry out the performance test of the interoperation middleware, five computers are configured, wherein one computer runs the operation control terminal, one computer runs the USARSim virtual simulation scene, one computer is used as a mobile robot node adopting the ROS framework, the other two computers are used as mobile robot nodes adopting the RCS framework, and the specific configuration is shown in the table 1.
TABLE 1 simulation test hardware configuration
The test process comprises the following steps:
step 1: three ground unmanned platform models are loaded in a USARSim virtual simulation scene, the driving form of the model is four-wheel independent differential, and the translation speed and the angular speed are used as input quantities for control.
Through the setting of a control end, UGV _0 is designated as a pilot, UGV _1 and UGV _2 are followers, formation information d1 is set to be 15m, d2 is 15m, phi 1 is 5 pi/3, and phi 2 is pi/3, and formation tasks are issued to 3 mobile robot nodes after the setting is finished;
step 2: and selecting a test mode as a formation mode, enabling 3 mobile robot nodes to start moving after receiving tasks, and continuously uploading self poses to a virtual simulation scene.
And step 3: and evaluating the bidirectional stability of data communication in the whole test process.
EXAMPLE III
The motion response capability of a single mobile robot can be individually tested. The basic workflow is as follows:
step 1: building a robot model in USARSim, wherein the robot model comprises a solid model shown in a scene, a class (written in a non Script language) for platform control and a sensor configuration scheme of a platform;
step 2: the remote control command sending module sends the expected linear velocity v and the angular velocity omega to the corresponding mobile robot controller so as to control the motion of the mobile robot in the USARSim virtual scene;
and step 3: and evaluating the correctness and the real-time performance of receiving the remote control command in the task execution process of the robot node in the test process.
In summary, the present invention relates to a system and a method for testing an interoperation middleware of a heterogeneous mobile robot, wherein the system includes a control terminal node, a plurality of mobile robot nodes with different architectures, and a virtual scene presenting node, and each node communicates with each other through a network; the control terminal node and each mobile robot node are provided with interoperation middleware to carry out interaction among all internal processes; the mobile robot node adopting the RCS framework and the mobile robot node adopting the ROS framework respectively construct a control system of the robot based on the two frameworks, and different quantities of the mobile robot nodes can be started according to task types. The invention provides an interoperation middleware testing system of heterogeneous mobile robots aiming at the real use of the mobile robots, which can test the general control capability and interoperation capability of various heterogeneous mobile robots of the middleware; the system can be applied to the function and performance test of various cross-operating-system and cross-different-software-architecture robot interoperation middleware.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (10)
1. An interoperation middleware testing system of a heterogeneous mobile robot, comprising: the system comprises a control terminal node, a plurality of mobile robot nodes with different architectures and a virtual scene presenting node, wherein the nodes are communicated through a network; the control terminal node and each mobile robot node are provided with interoperation middleware to carry out interaction among all internal processes;
the control terminal node is used for setting the working mode of the mobile robot and sending a task and/or a remote control instruction to the mobile robot node; receiving the state of the robot model, and judging whether the interoperability of the interoperation middleware is normal or not;
the mobile robot node receives the task, receives the state of the robot model fed back by the virtual scene presenting node, sends the state to the control terminal node, generates a corresponding control instruction based on the task and the state of the robot model, and sends the control instruction to the virtual scene presenting node;
the virtual scene presenting node constructs a virtual scene and a plurality of robot models; and receiving the control instruction, driving the corresponding robot model in the virtual scene to move, and feeding back the state of the robot model to the mobile robot node.
2. The system of claim 1, wherein the mobile robot node comprises a task reception and status feedback module, a decision and motion control module, and a virtual scene interaction module;
the task receiving and state feedback module receives the task and sends the state of the robot model to the control terminal node;
the decision and motion control module generates a control instruction according to the task and the state of the robot model; when the received task is a formation task, determining the self role, calculating a target point and generating a control instruction;
and the virtual scene interaction module interacts with the virtual scene presenting node, sends a control instruction and receives the state of the robot model fed back by the virtual scene presenting node.
3. The system of claim 2, wherein the mobile robot node task reception and status feedback module, the decision and motion Control module, and the virtual scene interaction module are implemented by an Interface process (Interface), a Control process (Control), a local service process (LocalServer), and a USARSim Interface process (USARSim Interface);
the Interface process (Interface) is used for receiving the task and sending the state of the robot model to the control terminal node;
the Control process (Control) is used for generating a Control instruction according to the task and the state of the robot model; when the received task is a formation task, determining the self role, calculating a target point and generating a control instruction;
the local service process (LocalServer) is used for establishing a communication channel;
and the USARSim interface process (USARSim interface) is used for sending a control instruction and receiving the control instruction from the virtual scene presenting node, so as to drive the corresponding robot model in the virtual scene presenting node to move.
4. The system of claim 3, wherein the mobile robot nodes comprise a mobile robot node adopting RCS architecture and a mobile robot node adopting ROS architecture, and the processes interact with each other through the RCS architecture interoperability middleware and the ROS architecture interoperability middleware respectively.
5. The interoperation middleware testing system of the heterogeneous mobile robot according to claim 4, wherein the manipulation terminal node includes a remote control instruction transmitting module, an autonomous path following task transmitting module, a formation task transmitting module, a pose displaying module, and a judging module;
the remote control instruction sending module selects the IP addresses of the mobile robot nodes with different architectures in a remote control mode, and sends expected linear velocity v and angular velocity omega after connection; judging the difference between the received linear velocity and angular velocity of the robot model and the expected linear velocity v and angular velocity omega, and if the difference is within a threshold value, judging that the interoperation middleware of the corresponding mobile robot nodes with different architectures has a normal function of receiving remote control commands; otherwise, judging that the interoperation middleware of the corresponding mobile robot node with different architectures receives the remote control command and has abnormal function;
the autonomous path following task sending module selects the IP address of a single mobile robot node with different architectures in an autonomous mode, and sends a set global path point after connection; judging the motion path of the received robot model, calculating the sum of the distances from the set global path point to the motion path pair, and if the sum is smaller than a set threshold value, judging that the interoperation middleware of the corresponding mobile robot nodes with different architectures receives the autonomous motion control instruction and has normal function; otherwise, judging that the interoperation middleware of the corresponding mobile robot node with different architectures receives the abnormal autonomous motion control instruction function;
the formation task sending module selects IP addresses of a plurality of mobile robot nodes with different architectures in a formation mode, and sends role and formation information after connection; calculating formation information at each moment according to the received motion paths of the robot models, comparing the formation information with the sent formation information, and outputting an interoperation middleware formation motion control function of the corresponding mobile robot nodes with different architectures if the deviation of one robot model at a certain moment exceeds a threshold value;
the pose display module is used for setting a task target point and a task path; the state of the receiving robot model is displayed in numerical and graphical form.
6. The interoperation middleware testing system of the heterogeneous mobile robot of claim 5, wherein the virtual scene representation nodes comprise a Unreal engine, a Unreal client, Gamebots and a USARSim platform;
constructing a scene map through an Unreal engine; rendering various objects in the scene map through an Unreal client; the method comprises the following steps of realizing communication between an Unreal engine and a USARSim interface process (USARSim interface) through Gamebots software according to a customized message protocol; the method comprises the steps of constructing a robot model and a sensor model in a USARSim platform, receiving a control instruction sent by an interface process (USARSim interface), controlling the robot model to move, and acquiring the position and the posture of the robot model in real time by the sensor model and sending the position and the posture to the interface process (USARSim interface).
7. A method for testing the interoperation middleware testing system of the heterogeneous mobile robot of claim 6, comprising the steps of:
(1) deploying the interoperation middleware of the control terminal node to a Windows operating system; deploying the interoperation middleware of the framework corresponding to each mobile robot node to a Ubuntu operating system, and realizing the integration with an Interface process (Interface);
(2) selecting a test mode, and sending a task and/or a remote control instruction to the mobile robot node; and receiving the state of the robot model, and judging whether the interoperability of the interoperation middleware is normal or not.
8. The method of conducting a test of claim 7, wherein if the test mode is selected to be the remote control mode: the remote control instruction sending module selects the IP addresses of the mobile robot nodes with different architectures, and sends the expected linear velocity v and the expected angular velocity omega after connection; judging the difference between the received linear velocity and angular velocity of the robot model and the expected linear velocity v and angular velocity omega, and if the difference is within a threshold value, judging that the interoperation middleware of the corresponding mobile robot nodes with different architectures has a normal function of receiving remote control commands; otherwise, judging that the interoperation middleware of the corresponding mobile robot node with different architectures receives the remote control command and has abnormal function.
9. The method of conducting testing of claim 7, wherein if the test mode is selected to be autonomous: the autonomous path following task sending module selects the IP addresses of the mobile robot nodes with different architectures, and sends the set global path point after connection; judging the motion path of the received robot model, calculating the sum of the distances from the set global path point to the motion path pair, and if the sum is smaller than a set threshold value, judging that the interoperation middleware of the corresponding mobile robot nodes with different architectures receives the autonomous motion control instruction and has normal function; otherwise, judging that the interoperation middleware of the corresponding mobile robot node with different architectures receives the abnormal autonomous motion control command function.
10. The method of conducting testing of claim 7, wherein if the test mode is selected to be a formation mode: the formation task sending module selects IP addresses of a plurality of mobile robot nodes with different architectures, and sends role and formation information after connection; and calculating the formation information of each moment according to the received motion path of each robot model, comparing the formation information with the sent formation information, and outputting the corresponding interoperation middleware of the mobile robot nodes with different architectures to form a formation motion control function if the deviation of a certain robot model at a certain moment exceeds a threshold value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010839876.0A CN111993424B (en) | 2020-08-19 | 2020-08-19 | Interoperation middleware testing system and method for heterogeneous mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010839876.0A CN111993424B (en) | 2020-08-19 | 2020-08-19 | Interoperation middleware testing system and method for heterogeneous mobile robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111993424A true CN111993424A (en) | 2020-11-27 |
| CN111993424B CN111993424B (en) | 2022-03-29 |
Family
ID=73473892
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010839876.0A Expired - Fee Related CN111993424B (en) | 2020-08-19 | 2020-08-19 | Interoperation middleware testing system and method for heterogeneous mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111993424B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112906245A (en) * | 2021-03-19 | 2021-06-04 | 上海高仙自动化科技发展有限公司 | Multi-robot simulation method, system, simulation server and terminal |
| CN114237221A (en) * | 2021-11-16 | 2022-03-25 | 山东大学 | Low-delay combined robot motion control system and method based on center mapping |
| CN115114051A (en) * | 2022-08-29 | 2022-09-27 | 国汽智控(北京)科技有限公司 | Node communication method, device, equipment and storage medium |
| CN116175595A (en) * | 2023-04-28 | 2023-05-30 | 深圳市玛塔创想科技有限公司 | Remote control system of programming robot based on artificial intelligence |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101035115A (en) * | 2006-03-09 | 2007-09-12 | 深圳Tcl工业研究院有限公司 | Digital home integration development system and platform |
| CN101431814A (en) * | 2007-11-05 | 2009-05-13 | 网秦无限（北京）科技有限公司 | Method and system for mobile phone and PC mutual operation based on intermediate part |
| CN103324173A (en) * | 2013-06-08 | 2013-09-25 | 上海交通大学 | Multiple-heterogeneous robot cooperation method based on middleware |
| US20140040665A1 (en) * | 2012-08-02 | 2014-02-06 | Manish K. Aggarwal | Middleware for multiprocessor software testing |
| CN105958642A (en) * | 2016-05-20 | 2016-09-21 | 中山市厚源电子科技有限公司 | Transformer substation automatic system real-time simulation device and test system thereof |
| CN109471435A (en) * | 2018-11-09 | 2019-03-15 | 福州大学 | A kind of polyisocyanate structure Mobile Robot Control System |
| CN109660462A (en) * | 2018-12-13 | 2019-04-19 | 中国北方车辆研究所 | Information self-adapting transmission method in vehicle isomery interference networks |
| CN110347159A (en) * | 2019-07-12 | 2019-10-18 | 苏州融萃特种机器人有限公司 | Mobile robot Multi computer cooperation method and system |
| CN111008127A (en) * | 2019-11-15 | 2020-04-14 | 拉扎斯网络科技（上海）有限公司 | Multi-activity testing method and device, electronic equipment and readable storage medium |
-
2020
- 2020-08-19 CN CN202010839876.0A patent/CN111993424B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101035115A (en) * | 2006-03-09 | 2007-09-12 | 深圳Tcl工业研究院有限公司 | Digital home integration development system and platform |
| CN101431814A (en) * | 2007-11-05 | 2009-05-13 | 网秦无限（北京）科技有限公司 | Method and system for mobile phone and PC mutual operation based on intermediate part |
| US20140040665A1 (en) * | 2012-08-02 | 2014-02-06 | Manish K. Aggarwal | Middleware for multiprocessor software testing |
| CN103324173A (en) * | 2013-06-08 | 2013-09-25 | 上海交通大学 | Multiple-heterogeneous robot cooperation method based on middleware |
| CN105958642A (en) * | 2016-05-20 | 2016-09-21 | 中山市厚源电子科技有限公司 | Transformer substation automatic system real-time simulation device and test system thereof |
| CN109471435A (en) * | 2018-11-09 | 2019-03-15 | 福州大学 | A kind of polyisocyanate structure Mobile Robot Control System |
| CN109660462A (en) * | 2018-12-13 | 2019-04-19 | 中国北方车辆研究所 | Information self-adapting transmission method in vehicle isomery interference networks |
| CN110347159A (en) * | 2019-07-12 | 2019-10-18 | 苏州融萃特种机器人有限公司 | Mobile robot Multi computer cooperation method and system |
| CN111008127A (en) * | 2019-11-15 | 2020-04-14 | 拉扎斯网络科技（上海）有限公司 | Multi-activity testing method and device, electronic equipment and readable storage medium |
Non-Patent Citations (4)
| Title |
|---|
| 余雪玮等: "地面无人平台体系架构研究综述", 《车辆与动力技术》 * |
| 余雪玮等: "面向异构无人驾驶车辆的互操作性研究", 《汽车技术》 * |
| 张浩杰等: "基于USARSim和ROS的无人平台编队仿真系统", 《自动化学报》 * |
| 黄立: "机器人建模与仿真系统研究与实现", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112906245A (en) * | 2021-03-19 | 2021-06-04 | 上海高仙自动化科技发展有限公司 | Multi-robot simulation method, system, simulation server and terminal |
| CN112906245B (en) * | 2021-03-19 | 2023-05-02 | 上海高仙自动化科技发展有限公司 | Multi-robot simulation method, system, simulation server and terminal |
| CN114237221A (en) * | 2021-11-16 | 2022-03-25 | 山东大学 | Low-delay combined robot motion control system and method based on center mapping |
| CN115114051A (en) * | 2022-08-29 | 2022-09-27 | 国汽智控(北京)科技有限公司 | Node communication method, device, equipment and storage medium |
| CN116175595A (en) * | 2023-04-28 | 2023-05-30 | 深圳市玛塔创想科技有限公司 | Remote control system of programming robot based on artificial intelligence |
| CN116175595B (en) * | 2023-04-28 | 2023-06-23 | 深圳市玛塔创想科技有限公司 | Remote control system of programming robot based on artificial intelligence |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111993424B (en) | 2022-03-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111993424B (en) | Interoperation middleware testing system and method for heterogeneous mobile robot | |
| JP6868028B2 (en) | Autonomous positioning navigation equipment, positioning navigation method and autonomous positioning navigation system | |
| CN105752280A (en) | Robot ship system used for acquiring water-area information and control method of robot ship system | |
| CN112051750B (en) | Digital twin system of four-rotor unmanned aerial vehicle | |
| CN102789171A (en) | Method and system for semi-physical simulation test of visual unmanned aerial vehicle flight control | |
| CN102117071A (en) | Multi-underwater robot semi-physical simulation system and control method thereof | |
| CN114063474A (en) | Semi-physical simulation system of unmanned aerial vehicle cluster | |
| CN111694376B (en) | Flight simulation method and device, electronic equipment and unmanned aerial vehicle | |
| CN116522570A (en) | Intelligent unmanned cluster system area coverage relay communication application simulation and test system | |
| CN113642243A (en) | Multi-robot deep reinforcement learning system, training method, device and medium | |
| Ertugrul et al. | Autonomous aerial navigation and mapping for security of smart buildings | |
| CN110008630B (en) | Underwater unmanned vehicle cluster simulation platform | |
| CN115065718A (en) | Multi-agent cooperative control algorithm verification system based on optical indoor positioning | |
| CN114706406A (en) | Multi-agent collaborative environment exploration system and device based on human-computer interaction | |
| Castillo-Effen et al. | Modeling and visualization of multiple autonomous heterogeneous vehicles | |
| CN210072405U (en) | Unmanned aerial vehicle cooperative control verification platform | |
| CN106737684B (en) | A kind of control system for modular robot based on local area network | |
| Chen et al. | Cloud-based UAV monitoring and management framework | |
| CN111736487A (en) | Semi-physical simulation system and method for rotor unmanned aerial vehicle cooperative control system | |
| Davis et al. | An augmented reality architecture for the creation of hardware-in-the-loop & hybrid simulation test scenarios for unmanned underwater vehicles | |
| Sarantinoudis et al. | A ROS-based Autonomous Vehicle testbed for the Internet of Vehicles | |
| Jones et al. | STOMP: a software architecture for the design and simulation of UAV-based sensor networks | |
| CN117195599B (en) | Cloud-edge cooperative satellite service migration verification method and device | |
| Ardiyanto et al. | Rt components for using morse realistic simulator for robotics | |
| CN112580126B (en) | HMI drawing method and system for airplane simulation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220329 |