CN105468432A - Realization method based on robot visual interactive simulation environment - Google Patents
Realization method based on robot visual interactive simulation environment Download PDFInfo
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- CN105468432A CN105468432A CN201510798285.2A CN201510798285A CN105468432A CN 105468432 A CN105468432 A CN 105468432A CN 201510798285 A CN201510798285 A CN 201510798285A CN 105468432 A CN105468432 A CN 105468432A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/455—Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines
- G06F9/45533—Hypervisors; Virtual machine monitors
- G06F9/45558—Hypervisor-specific management and integration aspects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/455—Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines
- G06F9/45504—Abstract machines for programme code execution, e.g. Java virtual machine [JVM], interpreters, emulators
- G06F9/45508—Runtime interpretation or emulation, e g. emulator loops, bytecode interpretation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/455—Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines
- G06F9/45533—Hypervisors; Virtual machine monitors
- G06F9/45558—Hypervisor-specific management and integration aspects
- G06F2009/45575—Starting, stopping, suspending or resuming virtual machine instances
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- General Engineering & Computer Science (AREA)
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Abstract
The invention discloses a realization method based on a robot visual interactive simulation environment. According to the method, a mouse conveniently creates different house type images, barriers, start points, unavoidable points and terminal points on an interactive simulation interface, a virtual environment required by experiments can be created by use of an interactive display module, and it is checked that whether a program meets the demand when a simulation robot operates in a visual interactive simulation environment system, so that potential unnecessary loss caused by direct operation on a physical robot is prevented, and unnecessary loss brought about by direct physical experiments is lowered.
Description
Technical field
The present invention relates to a kind of Visual Interactive simulated environment, particularly relate to a kind of implementation method based on robot Visual Interactive simulated environment.
Background technology
Existing Visualized Monitoring System, only play the effect of monitoring, there is no the virtual environment needed for testing, emulated robot cannot be checked to move whether satisfy the demand at visualization interactive simulation environmental system Program, robot operating system is all directly carry out Physical Experiment, causes much unnecessary loss.
Therefore, need to provide a kind of new technical scheme to solve the problems referred to above.
Summary of the invention
The technical issues that need to address of the present invention are to provide a kind of implementation method based on robot Visual Interactive simulated environment.By mouse set up on interactive simulation interface easily various different floor plan, barrier, starting point, must through the setting of point, terminating point, be true environment constructing virtual simulated environment by interactive display module, emulation, by just carrying out the operation under true environment, avoids unnecessary Physical Loss or Damage.
For solving technical matters of the present invention, the technical solution used in the present invention is:
Based on an implementation method for robot Visual Interactive simulated environment, it comprises block world construction step and visualization model operating procedure,
Block world construction step is as follows:
(1) emulation zone grid size is set;
(2) simulated environment size is set;
(3) choose figure, show by sample;
(4) whether pull figure and enter emulation zone, if so, then enter emulation zone; If not, then preserve and pull figure;
(5) pull after figure enters emulation zone, judge whether mobile or convergent-divergent figure, if so, then the figure chosen emulation zone moves or zoom operations; If not, then to the graphics saving that emulation zone is chosen, finally emulate end;
Visualization model operating procedure is as follows:
(1) visualization model opens a communication port, and is connected to the particular port of controller place main frame;
(2) judge whether controller receives, if do not received, then visualization model request controller distribution of machine people steering order, if received, then the data that receive of controller process send data to visualization model;
(3) judge whether visualization model receives, if do not received, then continue the data waiting for that controller sends, if received, visualization model realizes motion and the barrier avoiding function of robot according to the data mobile robot received, if do not terminated, then return visualization model request controller distribution of machine people steering order.
(4) step (2) (3) are repeated until terminate simulation process after reaching emulation object.
Beneficial effect of the present invention: interactive environment converts environmental model to unified figure module, can build environment information fast, is flexible, general, platform efficiently, supports the secondary development of user; Robot interactive formula simulated environment platform, can reduce unnecessary Physical Loss or Damage, reduces project spending simultaneously.
Accompanying drawing explanation
Fig. 1 is the software flow pattern that block world of the present invention builds.
Main flow figure when Fig. 2 is visualization model of the present invention operation.
Embodiment
Below in conjunction with the drawings and specific embodiments, the invention will be further described.Following examples, only for illustration of the present invention, are not used for limiting the scope of the invention.
Shown in Fig. 1 and 2, a kind of implementation method based on robot Visual Interactive simulated environment of the present invention, comprise block world construction step and visualization model operating procedure, block world construction step is as follows:
(1) emulation zone grid size is set;
(2) simulated environment size is set;
(3) choose figure, show by sample;
(4) whether pull figure and enter emulation zone, if so, then enter emulation zone; If not, then preserve and pull figure;
(5) pull after figure enters emulation zone, judge whether mobile or convergent-divergent figure, if so, then the figure chosen emulation zone moves or zoom operations; If not, then to the graphics saving that emulation zone is chosen, finally emulate end.
Visualization model operating procedure is as follows:
(1) visualization model opens a communication port, and is connected to the particular port of controller place main frame;
(2) judge whether controller receives, if do not received, then visualization model request controller distribution of machine people steering order, if received, then the data that receive of controller process send data to visualization model;
(3) judge whether visualization model receives, if do not received, then continue the data waiting for that controller sends, if received, visualization model realizes motion and the barrier avoiding function of robot according to the data mobile robot received, if do not terminated, then return visualization model request controller distribution of machine people steering order.
(4) step (2) (3) are repeated until terminate simulation process after reaching emulation object.
Robot develops under Windows operating system environment, develops based on VisualStudio2010/2012.Coupled together by point-to-point communication network between Controlling vertex and functional node.Development environment accessible site open source software resource.Such as, the driver, OpenCV, ROS open source software etc. of sensor manufacturer issue.
Robot Visual Interactive emulation platform comprises: block world, library management, building blocks storehouse, robot storehouse, preference pattern (remote control, path planning (A*), path planning (elastic webbing), script-editor).
1, block world: Figure 1 shows that building blocks composition process flow diagram.Pull building blocks into and carry out composition, be i.e. off-line composition.
2, library management: library management comprises the management to building blocks storehouse and robot storehouse, the task that library management mainly completes is function building blocks storehouse and robot storehouse being completed to interpolation, deletion, preservation.
3, building blocks storehouse: the just rectangular obstruction that building blocks storehouse of the present invention provides, in addition also has 8 kinds of barrier figures such as chair, bed, cupboard, desk, the kitchen range top, sofa, cabinet for TV, tea table.Can personal different demand manage building blocks storehouse, the functions such as increase, deletion, preservation, the increase function in building blocks storehouse is the * .3ds file formed by 3DSMAX modeling, and this file is imported to shape library, then is preserved by XML file.
4, robot imports: build block world, selects robot, edit script.
5, robot storehouse: robot storehouse is when the robot kind used in visualized operation process is many, conveniently to the storehouse that the concentrated of robot and administrative institute are built.What comprise in robot storehouse only has wheeled mobile robot, but can be expanded in robot storehouse as required.Preserving type is similar to building blocks storehouse above, the information of robot modeling can be kept in the middle of * .xml file.When needs amendment robot parameter, double-click robot, eject dialog box, in picture frame, is modified in the place of required amendment.Robot storehouse is by the collection of bots of various different modeling together and manage it.The management in robot storehouse with building blocks storehouse administrative class seemingly, also be divided into the operations such as importing, deletion, preservation, specific operation process is also similar with building blocks storehouse, increase operation select want load and the * .xml file of the robot of modeling, robot is loaded in the middle of storehouse.In simulation process afterwards, this robot can complete movement, turning, straight line people, selects " deletion " option to be deleted; For the robot storehouse of having modified, family also needs to carry out preserving to facilitate use next time.Right-click " robot storehouse " ejects shortcut menu, chooses " preservation " option, ejects dialog box (i.e. the path at place, robot storehouse), is saved in original robot storehouse.
6, robot imports: mainly comprise and import robot and pose setting.On the basis of existing block world, robot directly can be pulled into in block world.When robot is present in block world, can arrange the position money of robot.Select " pose setting " menu item in robot importing menu, the position of machine entered people, angle, click " setting " button, completes robot pose and arrange.
7, preference pattern: comprise remote control, path planning (A*), path planning (elastic webbing), the several function of script-editor.
Remote control mode: remote control comprises rocking bar remote control and control panel remote control, these two kinds of remote controls are not mutual exclusions, can use simultaneously, such as can click " stopping " the key controlled robot stop motion on control panel when distant bar is invalid suddenly.If pilot lamp is bright, then represent that rocking bar can normally use, what now show in " speed " and " angle " edit box is the speed of the robot that rocking bar sends and the angle of rotation; Otherwise represent that rocking bar can not normally use.When rocking bar can not normally use, control panel can be used to operate, operation first will input " speed " and " angle " value, clicks the button such as " advance ", " retrogressing ", " left-hand rotation ", " right-hand rotation " afterwards and carrys out control motion.
Path planning (A*, elastic webbing): select A* planning algorithm, can environmentally by clicking " impact point ", " must through point " button carrys out Offered target point, must through point, click " coordinates measurement " button, software can call PathPlanningAstar () or PathPlanningElastic () function, generation pass also shows in the environment, and path point is also shown in the middle of list, now clicks " beginning " button and just can manipulate robot path motion according to the rules.
Script-editor: script format has three kinds, is respectively " identifiable language+speed+distance; ", " identifiable language+angular velocity+angle " or " identifiable language " (as STOP; ).When form is " identifiable language+angular velocity+angle; " time, the unit of angular velocity is Radian per second (rad/s), the unit radian (rad) of angle.Such as, edit script manipulates robot with the speed advance 5m of 0.5m/s, then with the angular velocity left-hand rotation 1.57rad of 0.087rad/s." FRONT0.5005.000 can be written as in edit box; LEFT0.0871.570; ", click " transmission " button, trigger OnBnClickedVisualeditdialogSend () function, this function performance is sent by script information.Script can be sent to controller, manipulation robot motion.
Visualization interactive simulation environment of the present invention can build the virtual environment needed for experiment, whether the motion of inspection emulated robot satisfies the demand at visualization interactive simulation environmental system Program, avoid the unnecessary loss that direct control robot entity may cause, reduce direct physical and test the unnecessary loss brought.
Claims (1)
1. based on an implementation method for robot Visual Interactive simulated environment, it is characterized in that: it comprises block world construction step and visualization model operating procedure,
Block world construction step is as follows:
(1) emulation zone grid size is set;
(2) simulated environment size is set;
(3) choose figure, show by sample;
(4) whether pull figure and enter emulation zone, if so, then enter emulation zone; If not, then preserve and pull figure;
(5) pull after figure enters emulation zone, judge whether mobile or convergent-divergent figure, if so, then the figure chosen emulation zone moves or zoom operations; If not, then to the graphics saving that emulation zone is chosen, finally emulate end;
Visualization model operating procedure is as follows:
(1) visualization model opens a communication port, and is connected to the particular port of controller place main frame;
(2) judge whether controller receives, if do not received, then visualization model request controller distribution of machine people steering order, if received, then the data that receive of controller process send data to visualization model;
(3) judge whether visualization model receives, if do not received, then continue the data waiting for that controller sends, if received, visualization model realizes motion and the barrier avoiding function of robot according to the data mobile robot received, if do not terminated, then return visualization model request controller distribution of machine people steering order;
(4) step (2) (3) are repeated until terminate simulation process after reaching emulation object.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106326087A (en) * | 2016-08-31 | 2017-01-11 | 北京光年无限科技有限公司 | Webpage experiencing method based on robot operating system and system thereof |
| CN106408642A (en) * | 2016-09-23 | 2017-02-15 | 江西洪都航空工业集团有限责任公司 | Method for realizing three-dimensional simulation of service robot |
| CN110262505A (en) * | 2019-07-03 | 2019-09-20 | 安徽工程大学 | Robot moves method for visualizing by planning path in virtual reality |
| CN114147705A (en) * | 2021-11-18 | 2022-03-08 | 珠海格力智能装备有限公司 | Robot control method and device, computer equipment and storage medium |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106326087A (en) * | 2016-08-31 | 2017-01-11 | 北京光年无限科技有限公司 | Webpage experiencing method based on robot operating system and system thereof |
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| CN110262505A (en) * | 2019-07-03 | 2019-09-20 | 安徽工程大学 | Robot moves method for visualizing by planning path in virtual reality |
| CN110262505B (en) * | 2019-07-03 | 2022-03-11 | 安徽工程大学 | Method for visualizing robot motion according to planned path in virtual reality |
| CN114147705A (en) * | 2021-11-18 | 2022-03-08 | 珠海格力智能装备有限公司 | Robot control method and device, computer equipment and storage medium |
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