CN214480701U - Cloud robot control system based on Web webpage - Google Patents
Cloud robot control system based on Web webpage Download PDFInfo
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- CN214480701U CN214480701U CN202022686512.1U CN202022686512U CN214480701U CN 214480701 U CN214480701 U CN 214480701U CN 202022686512 U CN202022686512 U CN 202022686512U CN 214480701 U CN214480701 U CN 214480701U
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Abstract
The utility model discloses a cloud robot control system based on Web page, the system includes robot end, user side and high in the clouds, every machine execution device in the robot end includes the master controller, connects the sensor of master controller, first network communicator and executor, all first network communicators constitute the self-organizing network jointly; the main controller is connected with the sensor and the main controller and is connected with the cloud end through the first network communicator; the user side comprises a voice acquisition module, a human body information acquisition module and a second network communicator, and is provided with a Web page; the second network communicator is connected with the cloud end and sends the voice signals acquired by the voice acquisition module, the human body signals acquired by the human body information acquisition module and the control instructions of the Web pages to the cloud end; the cloud end stores information transmitted by the robot end and the user end and sends a control instruction to the main controller through the first network communicator. The utility model discloses can realize more complicated robot control high-efficiently in a flexible way.
Description
Technical Field
The utility model relates to a robot control technical field, in particular to cloud robot control system based on Web webpage.
Background
In recent years, with the introduction and application of cloud computing, cloud robot systems have come into play. For example, patent document CN101973031A discloses a cloud robot system and an implementation method thereof, where the system includes a cloud computing platform and at least one robot, where the cloud platform is configured to receive operation information sent by each robot, including data, status and request of the robot, and feed back the processed data, status and corresponding control instruction to the corresponding robot; the robot sends the operation information to the cloud computing platform, receives the processing result from the cloud computing platform, and operates the self action according to the control instruction of the cloud computing platform.
However, in the current robot system, a near-end industrial personal computer and the like are mainly used as the brain of the robot to perform calculation and data storage, and although the brain cost of the robot can be saved by means of a cloud computing platform, the hardware cost of the robot can be increased, so that the robot is large in size and not flexible in control. In addition, the system lacks the design of customer end, and the user can't directly carry out interactive control with cloud robot system, and then influences the expansibility and the functional diversity of system, is difficult to independently realize complicated action, consequently can't be applied to in the actual work well, and this has undoubtedly caused the waste of resource.
The development of the Internet technology has promoted the development of the Web application, and the combination of the Web application technology and the robot control is becoming more and more intimate, however, the current Web application is mainly used for exchanging information, pictures, videos and the like, the combination with the robot system is not enough, and the Web application is difficult to be really applied to the production work due to various reasons such as low processing efficiency of the server, network congestion or too simple control action.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's shortcoming and not enough, provide a cloud robot control system based on Web webpage, this system can realize more complicated robot control high-efficiently in a flexible way.
The purpose of the utility model is realized through the following technical scheme: a cloud robot control system based on Web pages comprises a robot end, a user end and a cloud end, wherein the user end is connected with the robot end through the cloud end,
the robot end comprises a plurality of types of machine execution equipment, each machine execution equipment comprises a master controller, a sensor, first network communicators and an actuator, and different first network communicators are mutually connected and form a self-organizing network together; the sensor is connected with the main controller and sends the collected actuator motion information and the collected ambient environment information to the main controller, the main controller is connected with the cloud end through the first network communicator, and the main controller is connected with and controls the working state of the actuator;
the user side comprises a voice acquisition module, a human body information acquisition module and a second network communicator, and is provided with a Web webpage for inputting a control instruction; the second network communicator is connected with the cloud end and sends the voice signals acquired by the voice acquisition module, the human body signals acquired by the human body information acquisition module and the control instructions of the Web pages to the cloud end;
the cloud end stores information transmitted by the robot end and the user end and sends a control instruction to the main controller through the first network communicator.
Preferably, the machine executing equipment comprises an unmanned aerial vehicle, a mobile robot and a mechanical arm.
Preferably, the user side comprises a smart phone and a computer.
Preferably, the sensors include, but are not limited to, cameras, distance sensors, and gyroscopes.
Preferably, the actuator includes, but is not limited to, a motor, a steering engine, a gripper, a suction cup, and a tire.
Preferably, the master includes, but is not limited to, an industrial personal computer, arduino, rasberry pi.
Preferably, the human body information acquisition module includes but is not limited to a limb signal acquisition module and a physiological signal acquisition module, wherein the limb signal acquisition module includes but is not limited to a posture sensor, a force sensor and a rigidity sensor; the physiological signal acquisition module comprises but is not limited to an electroencephalogram signal sensor and an electromyogram signal sensor.
Preferably, the cloud comprises a remote cloud and a local cloud, wherein the remote cloud is a cloud server and a cloud database, and the remote cloud is connected with the robot end and the user end through a wide area network; the local cloud is near-end software equipment and is connected with the robot end and the user end through a local area network.
Further, the near-end software device comprises a near-end processor and a near-end database.
Preferably, the cloud end stores machine algorithms including an artificial neural network, a SLAM and deep learning.
The utility model discloses for prior art have following advantage and effect:
(1) the utility model discloses combine together Web application and cloud robot system to Web webpage regards as human-computer interaction and high in the clouds interactive platform, can provide the interaction with swarm's robot for the user, and the control and the interaction of cloud robot system are coordinated, perfect the algorithm in high in the clouds, and the high in the clouds can be for the robot end accomplish most complicated calculation and provide powerful data storage function, and reinforcing robot control system's operational capability improves resource utilization. Additionally, the utility model discloses but selection pronunciation, webpage and human body signal control robot end, control mode is very nimble.
(2) Because the development is applied to the webpage is simple, has easy developability and updatability, consequently the utility model discloses can be according to the update of cloud robot kind and high in the clouds equipment and constantly update the application of self, maintain simply.
(3) The utility model provides a long-range cloud, local cloud, three kinds of high in the clouds modes of robot self-organizing cloud can carry out autonomous selection according to actual system's needs, and the high in the clouds can carry out the allotment of resource, satisfies each cloud robot's demand, reduces the waste of resource, also can arrange the calculation of robot end in with original traditional robot in the high in the clouds of unloading simultaneously, reduces the burden of robot end and builds the cost of robot, improves resource utilization.
(4) The utility model discloses build robot self-organizing cloud, based on self-organizing cloud, possible data sharing between machine execution equipment includes sensor information and robot control process, robot cooperation orbit, realizes R2R mode. In addition, the robot end receives the control instruction from the cloud end through the first network communicator, and simultaneously feeds back the state information of the robot end to the cloud end, so that the R2C mode is realized.
(5) The utility model discloses the high in the clouds storage has multiple machine algorithm, can select corresponding machine algorithm to generate more reasonable effectual control command under speech control or the human signal control condition, is favorable to improving the accuracy and the complexity of control.
Drawings
Fig. 1 is a structural block diagram of the cloud robot control system based on the Web page of the present invention.
Fig. 2 is a schematic diagram of connection between a voice acquisition module, a human body information acquisition module, a Web page and various machine execution devices.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings, but the present invention is not limited thereto.
The utility model discloses combine together high in the clouds application and robot system, the Web technique in the reassortment realizes high operational capability, high storage capacity, high efficiency, easy operation, interactive cloud robot control system.
Examples
The embodiment discloses a cloud robot control system based on a Web page, as shown in fig. 1 and 2, the cloud robot control system comprises a robot end 1, a user end 2 and a cloud end 3, and the user end is connected with the robot end through the cloud end.
Wherein, the robot end contains multiclass machine execution equipment, for example unmanned aerial vehicle, mobile robot, arm etc. and the machine execution equipment of this embodiment all forms based on ROS system development. Each machine execution device comprises hardware resources such as a master controller, a sensor, a first network communicator, an actuator and the like.
The first network communicator is connected with the main controller and the cloud end, data are transmitted between the first network communicator and the cloud end through a network transmission protocol, and the network transmission protocol comprises a real-time wireless multi-hop protocol. Different first network communicators are mutually connected and jointly form a self-organizing network (namely the robot self-organizing cloud), the self-organizing network is a cloud computing resource formed inside a plurality of machine execution devices in the system, the self or other machine execution devices can jointly acquire robot end computing and storage resources, data sharing is realized, the robot end resources are fully utilized, and high-level applications such as robot cooperation are realized. Different communication methods can be adopted in the self-organizing network according to different conditions.
The sensor and the executor are connected with the main controller respectively, the sensor is used for collecting the movement information and the surrounding environment information of the executor and sending the information to the main controller, and the main controller uploads the movement information and the surrounding environment information of the executor to the cloud end through the first network communicator. In the present embodiment, the sensors include, but are not limited to, a camera, a distance sensor, and a gyroscope. Actuators include, but are not limited to, motors, steering gears, grippers, suction cups, tires. Masters include, but are not limited to, industrial personal computers, arduino, rasberry pi.
The user side comprises a voice acquisition module, a human body information acquisition module and a second network communicator, the second network communicator is connected with the cloud, data are transmitted between the second network communicator and the cloud through a network transmission protocol, and the network transmission protocol comprises a real-time wireless multi-hop protocol. The voice acquisition module is used for acquiring voice signals of a user, and the human body information acquisition module is used for acquiring human body signals of the user.
The user side of this embodiment includes smart mobile phone and computer, and pronunciation collection module can adopt the microphone. The human body information acquisition module comprises but is not limited to a limb signal acquisition module and a physiological signal acquisition module, and particularly, the limb signal acquisition module comprises but is not limited to a posture sensor and a force sensor; the physiological signal acquisition module comprises but is not limited to an electroencephalogram signal sensor and an electromyogram signal sensor. Wherein, the microphone, the attitude sensor and the force sensor can adopt elements carried by a mobile phone/a computer.
The user side is provided with a Web page, the Web page is a GUI page for interaction between the user and the cloud side and the robot side, and the Web page can be a mobile phone Web page or a PC Web page. The Web page is provided with corresponding controls which can be used for selecting a robot end control mode, target machine execution equipment to be controlled and inputting a control instruction, wherein the control mode comprises a voice control mode, a human body signal control mode and a webpage control mode.
The Web page is further used for acquiring and displaying the actuator motion information and the ambient environment information from the cloud end through the second network communicator, for example, in this embodiment, the motion information such as the distance between the actuator and the surrounding obstacle detected by the distance sensor in real time, the angular velocity detected by the gyroscope, and the like, and the ambient environment image/video shot by the camera in real time are displayed on the Web page in an HTML form, and a user can view the motion information at a user end, so that the state of the machine execution equipment can be better known, and the control effect is optimized. In addition, the user can upload the new algorithm to the cloud end through the Web page to improve the computing capacity of the cloud end.
And the Web webpage sends the robot end control mode, the selected target machine execution equipment, the input control instruction, the voice signal and the human body signal to the cloud end through the second network communicator.
In this embodiment, a JSP technology is specifically used in combination with CSS to perform layout design on a Web page, and a JavaServlet technology is used to complete communication and logical operation functions of the Web page.
The cloud end is used for processing the control instruction input by the Web webpage into a control instruction which can be recognized by the machine execution equipment, generating a corresponding control instruction according to a voice signal in a voice control mode, generating a corresponding control instruction according to a human body signal in a human body signal control mode, and storing the control instruction input by the Web webpage selected by a user, the generated control instruction, the voice signal, the human body signal, the actuator motion information of the robot end and the surrounding environment information.
The cloud end also stores machine algorithms such as an artificial neural network, an SLAM and a deep learning algorithm, the cloud end can be matched with instructions of web pages to call the algorithms, the machine algorithms are adopted to generate more reasonable and efficient control instructions, and robot end control such as autonomous navigation and grabbing can be better completed.
The cloud sends the control instruction to the master controller through the first network communicator, and the master controller is used for controlling the working state of the actuator according to the control instruction, so that corresponding actions are completed.
Here, the cloud may record a series of control processes of the user and a motion trajectory of the robot, store the control processes and the motion trajectory into the cloud database, input information such as a name and a control instruction by the user, and then reproduce the motion in a control mode selected by the user for the motion, such as a voice control mode or a human body signal control mode.
In this embodiment, the cloud includes a remote cloud and a local cloud. The remote cloud is a remote cloud resource, is realized by means of an existing cloud server with super-high computing capability and a cloud database with super-large storage space, and is connected with the robot end and the user end through a wide area network. The difference between the local cloud and the remote cloud is that resources are stored in near-end software equipment, and equipment with stronger computing capacity and storage capacity near a robot end and a user end is connected with the robot end and the user end through a local area network, wherein the near-end software equipment comprises a near-end processor and a near-end database.
The embodiment adopts the local cloud as a standby cloud and is supplemented with the remote cloud, the system stability can be improved by adopting two types of cloud ends, and the congestion of the cloud end networks is also relieved, so that the service can be better provided for the robot control system. Traditional robot control system needs to accomplish operation and storage at the robot end, and this embodiment can accomplish operation and storage uninstallation to the high in the clouds, reduces robot end cost, also provides the powerful condition for the miniaturization of robot.
The working process of the cloud robot control system based on the Web page is as follows:
and S1, the user inputs the URL of the Web page in the user side browser to obtain the Web page resource and enters the Web page.
S2, the user performs account registration and login on the Web page, and during registration, the account and the password of the user are sent to the cloud end through the first network communicator to be stored; after the user logs in, the system searches the user information at the cloud, if the user information is in accordance with the user information, the login is successful, and if the user information is not in accordance with the user information, the login is failed, and the user needs to log in again or register a new account and then log in again.
S3, after login is successful, a user selects a control mode on a Web page, and enters a corresponding control page according to different control modes, wherein the control modes comprise a voice control mode, a human body signal control mode and a webpage control mode, and other control pages can be switched in each control page;
and then, the user selects machine execution equipment to be controlled on the control page, the cloud actively provides actuator motion information and surrounding environment information of the selected machine execution equipment for the Web page at the moment, and the Web page displays the information.
S4, (1) if entering a Web page control mode, the user inputs a control instruction on the Web page, specifically, the user can select a function and an action set in the Web page, or manually input joint angles and quaternary point data of machine execution equipment; the control instruction is sent to the cloud end through the second network communicator, the cloud end processes the control instruction and sends the processed control instruction to the selected machine execution equipment through the first network communicator, and the selected machine execution equipment conducts action recurrence according to the control instruction.
In addition, a user can design new complex actions through a Web webpage and the strong computing power of the cloud, the new actions can be recorded into the cloud, and the new actions can be used as action key options on the webpage and can also be provided for other control modes (a voice control mode and a human body signal control mode).
(2) If the mobile terminal enters the voice control mode, a user inputs voice information through a voice input button and a voice acquisition module on the Web page, the cloud end acquires voice signals through the second network communicator and converts the voice signals into corresponding control instructions, the cloud end sends the control instructions to the selected machine execution equipment through the first network communicator, and the selected machine execution equipment performs action reproduction according to the control instructions.
Here, the cloud converts voice signal into corresponding control command, specifically is: the user side converts the voice signal into the text information, so that the data transmission quantity between the Web page and the cloud end can be reduced, the time delay is shortened, and the transmission efficiency is improved. And then the cloud end acquires the control intention of the user according to the text information, matches the control intention of the user with the existing actions stored in the cloud end, thereby determining a specific control method and data, and finally sends the control method and the data to the robot end for execution. The existing actions stored by the cloud comprise setting actions provided by a Web page, executed historical actions and new complex actions redesigned by the cloud by utilizing the strong computing power of the cloud.
(3) If the user enters the human body signal control mode, the user acquires human body signals through the human body information acquisition module, the cloud end acquires the human body signals through the second network communicator and converts the human body signals into corresponding control instructions, the cloud end sends the control instructions to the selected machine execution equipment through the first network communicator, and the selected machine execution equipment performs action reproduction according to the control instructions.
In the above process, data sharing is performed between different machine execution devices through the ad hoc network, for example, the control instruction is shared with other machine execution devices in the ad hoc network through the ad hoc network, and the control instruction of the other machine execution devices matched with the control instruction is generated by using the computing power of the ad hoc network, so that the other machine execution devices can also receive the control instruction and start to perform corresponding movement, thereby achieving the effect of multi-robot cooperation. And the cloud automatically records and stores the control log.
And S5, after the control is finished, disconnecting the network connection between the Web page and the cloud end, and quitting the Web page.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (10)
1. A cloud robot control system based on Web pages is characterized by comprising a robot end, a user end and a cloud end, wherein the user end is connected with the robot end through the cloud end,
the robot end comprises a plurality of types of machine execution equipment, each machine execution equipment comprises a master controller, a sensor, first network communicators and an actuator, and different first network communicators are mutually connected and form a self-organizing network together; the sensor is connected with the main controller and sends the collected actuator motion information and the collected ambient environment information to the main controller, the main controller is connected with the cloud end through the first network communicator, and the main controller is connected with and controls the working state of the actuator;
the user side comprises a voice acquisition module, a human body information acquisition module and a second network communicator, and is provided with a Web webpage for inputting a control instruction; the second network communicator is connected with the cloud end and sends the voice signals acquired by the voice acquisition module, the human body signals acquired by the human body information acquisition module and the control instructions of the Web pages to the cloud end;
the Web page is provided with corresponding controls which can be used for selecting a robot end control mode, target machine execution equipment to be controlled and inputting a control instruction, wherein the control mode comprises a voice control mode, a human body signal control mode and a webpage control mode;
the Web page is also used for acquiring and displaying the actuator motion information and the surrounding environment information from the cloud end through the second network communicator;
the Web webpage sends the robot end control mode, the selected target machine execution equipment, the input control instruction, the voice signal and the human body signal to the cloud end through the second network communicator;
the cloud end stores information transmitted by the robot end and the user end and sends a control instruction to the main controller through the first network communicator.
2. The Web page-based cloud robot control system of claim 1, wherein the machine executing device comprises an unmanned aerial vehicle, a mobile robot, and a robotic arm.
3. The Web page-based cloud robot control system of claim 1, wherein the user side comprises a smartphone and a computer.
4. The Web page-based cloud robot control system of claim 1, wherein sensors include but are not limited to cameras, distance sensors and gyroscopes.
5. The Web page-based cloud robot control system of claim 1, wherein the actuators include, but are not limited to, motors, steering engines, grippers, suction cups, tires.
6. The Web page-based cloud robot control system of claim 1, wherein the master controller includes but is not limited to an industrial personal computer, arduino, rasberry pi.
7. The Web-based cloud robot control system of claim 1, wherein the human body information acquisition module includes but is not limited to a limb signal acquisition module and a physiological signal acquisition module, wherein the limb signal acquisition module includes but is not limited to a posture sensor, a force sensor and a stiffness sensor; the physiological signal acquisition module comprises but is not limited to an electroencephalogram signal sensor and an electromyogram signal sensor.
8. The Web page-based cloud robot control system of claim 1, wherein the cloud end comprises a remote cloud and a local cloud, wherein the remote cloud is a cloud server and a cloud database, and the remote cloud is connected with the robot end and the user end through a wide area network; the local cloud is near-end software equipment and is connected with the robot end and the user end through a local area network.
9. The Web page-based cloud robot control system of claim 8, wherein the near-end software device comprises a near-end processor and a near-end database.
10. The Web page-based cloud robot control system of claim 1, wherein machine algorithms including artificial neural network, SLAM, and deep learning are stored in the cloud.
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| CN112492009A (en) * | 2020-11-19 | 2021-03-12 | 华南理工大学 | Cloud robot control system based on Web webpage and implementation method |
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| CN112492009A (en) * | 2020-11-19 | 2021-03-12 | 华南理工大学 | Cloud robot control system based on Web webpage and implementation method |
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