CN108900608A - Robot real-time feedback system based on cloud platform - Google Patents
Robot real-time feedback system based on cloud platform Download PDFInfo
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- CN108900608A CN108900608A CN201810692905.8A CN201810692905A CN108900608A CN 108900608 A CN108900608 A CN 108900608A CN 201810692905 A CN201810692905 A CN 201810692905A CN 108900608 A CN108900608 A CN 108900608A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/04—Network management architectures or arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Abstract
The invention discloses a kind of robot real-time feedback system based on cloud platform, including control plane and data plane, data plane includes information collecting device cluster, network apparatus cluster, cloud server cluster, and control plane includes the information collection control management module, the network equipment control management module for carrying out control management to network apparatus cluster, data center's control management module for carrying out control management to cloud server cluster for acquisition device clusters to be carried out with control management；In data processing, the data of information collecting device cluster acquisition are transferred to cloud server cluster via network apparatus cluster, and cloud server cluster carries out processing result Real-time Feedback to execution unit after Data Analysis Services.The present invention has simplified the network node of data transmission link, so that system structure is more simplified, robot and cloud platform are able to maintain real time communication.
Description
Technical field
The present invention relates to the Study of Control for Robots field, in particular to a kind of Real-time Feedback system of robot based on cloud platform
System.
Background technique
In the experimental study and therapeutic intervention of traditional autism children, ask there are professional institution and healthcare givers are insufficient
Topic, there is now the thought researched and proposed using Internet of Things, and company, the experiment of autism children are realized by robot and cloud platform
Research and therapeutic intervention.
Referring to Fig. 1, which is the remote healthcare that Continua Health Alliance recommends and environment auxiliary life
The structural schematic diagram of system, the course of work be by wireless personal area network equipment and WLAN devices from research object
Information is acquired, reaches applied host machine equipment (terminals such as laptop, mobile phone, PDA), and then data are sent to by wide area network
Center carries out processing feedback.But within the system, only the database of medical treatment and knowledge base are migrated to cloud platform, cloud platform has
The data of acquisition are carried out calculating analysis and return to the effect executed instruction.It is intermediate during this data is transmitted and exchanged
It can be transmitted by some nonessential nodes (such as minihose, mobile phone, PDA etc.), will cause unnecessary delay, this is right
In the stringent therapeutic intervention system of real-time and reliability requirement be unfavorable.In addition, network node itself has functionally
Time is alternative, and certain link nodes section may assume responsibility for the function that control management is transmitted with data in different times respectively
Can, such as a PC, may not only have the function of control acquisition equipment in systems, but also transmission section is served as in data link
, functionally there is redundancy in point.
For this purpose, establishing a kind of robot feedback system that structure is simplified as far as possible, that real-time is high has important practical valence
Value.
Summary of the invention
The purpose of the present invention is to overcome the shortcomings of the existing technology and deficiency, and it is real to provide a kind of robot based on cloud platform
When feedback system, which has simplified the network section of data transmission link according to function division control plane and data plane
Point, so that system structure is more simplified, robot and cloud platform are able to maintain real time communication.
The purpose of the present invention is realized by the following technical solution：Robot real-time feedback system based on cloud platform, packet
Including control plane and data plane, data plane includes information collecting device cluster, network apparatus cluster, cloud server cluster,
Control plane includes that the information for carrying out control management to acquisition device clusters collects control management module, for setting to network
Standby cluster carries out network equipment control management module, the data for carrying out control management to cloud server cluster of control management
Center controls management module；In data processing, the cluster in data plane is flat as the control of lower layer's platform individual reception
The control signal that corresponding control management module is assigned on face, makes the change to do well according to instruction, information collecting device cluster is adopted
The data of collection are transferred to cloud server cluster via network apparatus cluster, and cloud server cluster will place after carrying out Data Analysis Services
Execution unit is fed back to when managing fructufy.
The calculating of robot and store tasks have not only been arranged into cloud server cluster by the present invention, but also by existing skill
The control management function of subnetwork node is also separated in data transmission procedure in art, and system isolates control plane sum number
According to plane, control plane is software module, is located on specialized control equipment (host computer, individual PC etc.), only to data plane
Necessary control signal is provided, and is not involved in the data transmission procedure of entire platform, data are transmitted through each of data plane
Cluster realizes that the data of specifically information collecting device cluster acquisition are directly transferred to Cloud Server via network apparatus cluster
Cluster makes data transmit nodes, the real-times such as process routing device few as far as possible higher.
Preferably, it includes that an information collects client that the information, which collects control management module, which adopts with information
Collect each acquisition equipment wireless connection in device clusters, for carrying out control management to information collecting device cluster, including to each
Starting and closing, the parameters remote setting and abnormal conditions monitoring of a acquisition equipment.
Further, when the information collects control management module progress abnormal conditions monitoring, remote control and regulation acquisition is set
Standby parameter is then adjusted parameter in the client that information collects control management module, adjustment is difficult if there is exception
When selection record current point in time exception information and restart acquisition equipment, make acquire equipment initialization, restart mission.It should
Management module only carries out necessary control, is not involved in the data transmission of the affiliated lower layer's platform of data plane, so that management sum number
According to separation.
Specifically, the information collecting device cluster refers to self-contained sensor (the including but not limited to pressure of robot
Sensor, range sensor, temperature sensor and acceleration transducer) and high definition video recording equipment, live recording equipment etc.,
Feedback is made for collection site data and according to instruction, each equipment and robot itself in information collecting device cluster
It is an independent unit, each unit is mounted on wireless terminal, positioning terminal and executes terminal, and wireless terminal is by information
Control management module unified management is collected, real time communication is carried out by the network equipment (such as router) and cloud server cluster, it is fixed
Position terminal is used to acquire the location information of active cell, executes terminal and is used for according to the direction and position for instructing adjustment active cell
It sets, export sound and/or image.
Preferably, the network equipment control management module includes a network device management client, passes through the client
Network apparatus cluster is carried out to be uniformly controlled management, including to the network equipment each in network apparatus cluster starting and close with
And traffic monitoring.
Further, when the network equipment control management module carries out traffic monitoring to the network equipment, once discovery
Traffic Anomaly is then adjusted using measures such as adjustment link bandwidths.
Specifically, including the network communication equipments such as router, interchanger, the biography for data in the network apparatus cluster
Defeated exchange participates in network topology management work.
Preferably, data center's control management module includes a data center management client, passes through the client
Cloud server cluster is carried out to be uniformly controlled management, including to Cloud Server each in cloud server cluster starting and closing,
Computational resource allocation and output information monitoring.
Further, data center's control management module is according to the concurrent quantity equal part of information collecting device with each
The computing resource of a Cloud Server.
Further, the output monitoring of data center's control management module refers to the output to Cloud Server
(request Concurrency number, information processing result, occupation condition of current server etc.) is monitored, when discovery output information goes out
Scheduling is re-started to the resource of server when now abnormal, current exception information is recorded and feeds back to information and collect control management
Module and the network equipment control management module.
Specifically, the cloud server cluster includes but is not limited to third party cloud, while containing local data center
Server (data center server etc. disposed such as laboratory), all numbers uploaded for receiving storage acquisition device clusters
According to being handled in real time data, convert the instruction for specific execution unit for processing result, pass through network real-time delivery
To the execution unit.
Compared with prior art, the present invention having the following advantages that and beneficial effect：
1, the present invention creatively simplifies on the basis of the calculating and store tasks that displaced robot are to cloud platform
Network node in data exchange makes robot directly keep real time communication with cloud server cluster, substantially reduces extra node
Caused by communication delay.Framework simplify before interactive voice averagely to experience the time be to simplify lattice chain between 3.3-6.7 (s)
Interactive voice averagely experiences the time between 1.8-2.8 (s) after circuit node.In the experimental study and therapeutic intervention of autism children
Field possesses extremely strong application prospect.
2, the present invention turns the control management function that node may have while simplifying network link node
It moves, whole system has further been divided into corresponding control plane and data plane, be conducive to whole system activity and service
Control management, the abnormal conditions occurred in system have been formulated with different countermeasures, substantially increase system accuracy and
Reliability.
Detailed description of the invention
Fig. 1 is the remote healthcare that Continua Health Alliance recommends in the prior art and environment auxiliary life system
The structural schematic diagram of system.
Fig. 2 is the general frame figure of the present embodiment system.
Fig. 3 is the present embodiment system application scenarios schematic diagram.
Fig. 4 is the block schematic illustration that the present embodiment system realizes voice interactive function.
Fig. 5 is the specific flow chart that voice interactive function is realized based on the present embodiment system.
Fig. 6 is the specific implementation exemplary diagram of this system platform.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Embodiment 1
As shown in Fig. 2, robot real-time feedback system of the present embodiment based on cloud platform, is divided into control plane and data is flat
Face.The control management module of plane is controlled, control managerial role is played in activity and service to whole system, including to acquisition
Device clusters, network apparatus cluster, the starting of cloud server cluster and closing service, task distribution service, abnormality processing service
Deng.Particularly the information for carrying out control management to acquisition device clusters collects control management module, for setting to network
Standby cluster carries out network equipment control management module, the data for carrying out control management to cloud server cluster of control management
Center controls management module.Data plane refers to a series of human-computer interactions, network transmission, the module of analytical calculation, plays whole
The function of data transmission, the exchange and processing feedback of a system, data acquisition and action including acquiring device clusters execute clothes
Business, the data transmission of network apparatus cluster and forwarding service, server apparatus cluster data analysis and the service such as calculating.
The equipment of plane and data plane is controlled in the present embodiment there are physical separation, physical separation described here refers to
Information is collected control management module, network equipment control management module and data center's control management module and is arranged in dedicated control
On management module (such as PC) processed, exist in the form of software client respectively, above-mentioned client is generally not involved in data
The data exchange of the platform of plane is used only for carrying out necessary control for corresponding device clusters, such as acquisition equipment exists
When receiving control plane instruction adjustment device parameter, just there is the interaction (necessary control signal) in information with control plane；?
When acquiring information by network equipment upload, data exchange just occurs in data plane.Network apparatus cluster and Cloud Server collection
Group is similarly.
Detailed discussion is carried out to control plane and data plane separately below.
One, plane is controlled
Control the activity and service of plane management whole system, including three modules：Information collects control management module, net
Network editing equipment management module, data center control management module.Wherein：
Information collects control management module, for the control management to acquisition device clusters.Including opening acquisition equipment
Dynamic and closing (ON/OFF), parameters remote setting and abnormal monitoring effect.
The network equipment controls management module, for the control management to network apparatus cluster, including opening the network equipment
Dynamic and closing (ON/OFF), link bandwidth assignment and flow monitoring function.
Data center controls management module, for the control management to cloud server cluster, including opening Cloud Server
Dynamic and closing (ON/OFF), computational resource allocation and output monitoring effect.
Control plane plays the role of enhancing platform reliability, when having monitored emergency case generation, has to these
The strategy of abnormality processing.Monitoring and abnormality processing include but is not limited to following situations：
(1) when information collecting device occur task requests frequently, can not reply the case where when, computer to acquisition equipment into
Row state initialization, the process resource before discharging, restarts mission.
(2) it makes when Network status changes and timely adjusting, including the measures such as adjustment link bandwidth.
(3) according to the computing resource of the reasonable distributions servers such as the concurrent quantity of concurrent quantity, task of information collecting device.
Two, data plane
Data plane plays the function of the data transmission of whole system, exchange and processing feedback.Including three modules：Acquisition
Device clusters, network apparatus cluster, server apparatus cluster.Wherein：
Device clusters are acquired, refer to that the self-contained sensor of robot includes but is not limited to pressure sensor, Distance-sensing
Device, temperature sensor and acceleration transducer and high definition video recording equipment, live recording equipment etc. are used for collection site data
And feedback is made according to instruction, acquiring each equipment and robot itself in device clusters is an independent unit,
Each unit is mounted on wireless terminal, positioning terminal and executes terminal, and wireless terminal is unified by the control module of information collection
Management carries out real time communication by the network equipment (such as router) and cloud, and positioning terminal is used to acquire the position of active cell
Information executes terminal and is used for according to the direction of instruction adjustment active cell and position, exports sound and/or image；
Network apparatus cluster, set of one group of network communication equipment, including router, interchanger etc., the biography for data
Defeated exchange participates in network topology management work；
Server apparatus cluster, the set of one group of server, including but not limited to third party cloud, while containing local
Data center server (data center server etc. disposed such as laboratory) is uploaded for receiving storage acquisition device clusters
All data, data are handled in real time, convert the instruction for specific unit for processing result, it is real-time by network
It is transmitted to the unit.
As shown in figure 3, after system starts, information collecting device acquisition voice signal simultaneously leads to by taking interactive voice as an example
It crosses the network equipment and is uploaded to Cloud Server, the audio file that Cloud Server docking is kept well does speech recognition and semantic feedback, then
By network-feedback as a result, carrying out audio broadcasting, so that dialogue is completed.
By taking therapeutic intervention is done in Fig. 4, the interaction of 5 robot voices as an example, the process of the system experimentation scheme is illustrated.
After system starts, the control management module that information is collected is monitored acquisition equipment, acquires EM equipment module
By the sound in detection environment, then the audio data of collection site is directly uploaded to Cloud Server by network and is divided
Operation is analysed, the speech recognition of Cloud Server feedback and semantic results are returned by network, rear to carry out audio broadcasting.
(1) preparation stage：Inquiry message acquires equipment (robot) interface, initialization acquisition equipment (robot) interface shape
State judges whether success, if it succeeds, executing step (2), otherwise collects control management module by the information of control plane
Software client reexamines preparation, processing equipment abnormality.That the software client corresponds to computer is windows flat
Visual software under platform, mobile terminal is application..
(2) data acquisition phase：Recording module in information collecting device (robot) starts to record, and acquires audio, this
The audio-frequency module of robot monitors ambient enviroment sound during one, when detecting that sound stops, closing memory interface, starts
Audio is uploaded to Cloud Server；
(3) data upload the stage：This process procedures inquiry Cloud Server writes memory interface, is uploaded by the network equipment
Audio is to Cloud Server.
(4) the audio processing stage：It is waiting harvest audio file after, Cloud Server divides the audio file received
Analysis calculates, and returns to speech recognition and semantic feedback result
(5) feedback stage：Terminal progress audio broadcasting is executed to judge audio content in audio playing process,
If detecting end mark, stop.Otherwise continue next round dialogue.
As shown in fig. 6, the course of work of this system entirety is probably as follows：
1, it to the control management function of control plane, is stated by taking the control management module that information is collected as an example.
Before ready message collection work, the control management software client that information is collected connects each acquisition equipment (Nao
Robot, high-definition camera, recording microphone etc.) wireless terminal, unified initialization is carried out to acquisition equipment；After initialization
It acquires equipment and carries out information collection, the control management client remote control and regulation acquisition equipment that information is collected in collection process is set
Set parameter (acquisition resolution, the frame per second of such as camera, the sample frequency etc. of sound pick-up outfit)；When acquisition equipment is due to long-time work
When the reasons such as work, load excessive cause acquisition information obviously to occur abnormal, acquisition is set by information collection control management client
Standby parameter is adjusted, and selection records the exception information of current point in time and restarts acquisition equipment when adjustment is difficult；
2, the interface for acquiring equipment is opened, and carries out data acquisition to sound, image, movement of research object etc.；
3, program software inquires Cloud Server memory interface, starts to upload collected data to cloud clothes by the network equipment
Business device；
4, Cloud Server carries out analytic operation to received data, by network equipment feedback processing result to acquiring equipment
Execution terminal, execute terminal and export corresponding sound, image or movement.
Likewise, controlling management module referring to Fig. 6 for the network equipment, also including a special equipment, pacify in the equipment
Client is filled, for the control management to network apparatus cluster, including the starting and closing (ON/OFF), link to the network equipment
Bandwidth allocation and flow monitoring function.Before the information (voice, image etc.) of acquisition is ready to pass through network upload, network is set
Standby control management client connects network communication equipment, and carrying out unified initialization and configuration parameter to the network equipment, (channel selects
Select, band bandwidth, port speed etc.), the rate of network equipment port, flow etc. are monitored in data upload process,
The parameter of the network equipment is adjusted when Network Abnormal occurs, the abnormal letter of selection record current point in time when adjustment is difficult
It ceases and restarts the network equipment.Network-based control module and the control module of information collection, data center's control management module exist
Necessary information exchange.
Likewise, controlling management module referring to Fig. 6 for data center, also including a special equipment, pacify in the equipment
Client is filled, for the control management to cloud server cluster, including the starting and closing (ON/OFF), calculating to Cloud Server
Resource allocation and output monitoring effect.Before the task requests of platform execute, the control management client of data center connects
It connects Cloud Server and carries out unified initialization and parameter configuration (CPU, memory, hard disk, bandwidth etc.), in data processing to cloud
The output information (request Concurrency number, information processing result, occupation condition of current server etc.) of server is monitored,
Scheduling is re-started to the resource of server when finding that output information is obviously abnormal, current exception information is recorded and feeds back to
The control module of information collection control module and the network equipment.It is interacted with other management module necessary informations.In data
The heart controls management module independently of data plane, and compared with prior art, which also only provides necessary control
Signal, and it is not involved in the data transmission procedure of entire platform.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (8)
1. the robot real-time feedback system based on cloud platform, which is characterized in that including control plane and data plane, data are flat
Face includes information collecting device cluster, network apparatus cluster, cloud server cluster, and control plane includes for acquisition equipment collection
The information that group carries out control management collects control management module, the network equipment for carrying out control management to network apparatus cluster
Control management module, the data center for carrying out control management to cloud server cluster control management module；In data processing
In the process, the control that the cluster in data plane is assigned as corresponding control management module in lower layer's platform individual reception control plane
Signal processed makes the change to do well according to instruction, and the data of information collecting device cluster acquisition are transmitted via network apparatus cluster
To cloud server cluster, cloud server cluster is carried out processing result Real-time Feedback to execution unit after Data Analysis Services.
2. the robot real-time feedback system according to claim 1 based on cloud platform, which is characterized in that the information is received
Collection control management module includes that an information collects client, in the client and information collecting device cluster each acquisition equipment without
Line connection, for carrying out control management to information collecting device cluster, including the starting and closing, parameter to each acquisition equipment
The monitoring of remotely located and abnormal conditions.
3. the robot real-time feedback system according to claim 2 based on cloud platform, which is characterized in that the information is received
When collection control management module carries out abnormal conditions monitoring, remote control and regulation acquires the parameter of equipment, if there is exception, then in information
The client for collecting control management module is adjusted parameter, the exception information of selection record current point in time when adjustment is difficult
And restart acquisition equipment, make to acquire equipment initialization, restart mission.
4. the robot real-time feedback system according to claim 2 based on cloud platform, which is characterized in that the information is adopted
Collection device clusters include the self-contained sensor of robot and video recording equipment, live recording equipment, are used for collection site number
Feedback is made accordingly and according to instruction, each equipment and robot itself are one independent in information collecting device cluster
Unit, each unit are mounted on wireless terminal, positioning terminal and execute terminal, and wireless terminal collects control management mould by information
Block unified management carries out real time communication by the network equipment and cloud server cluster, and positioning terminal is for acquiring active cell
Location information executes terminal and is used for according to the direction of instruction adjustment active cell and position, exports sound and/or image.
5. the robot real-time feedback system according to claim 1 based on cloud platform, which is characterized in that the network is set
Standby control management module includes a network device management client, is uniformly controlled by the client to network apparatus cluster
Management, including the starting and closing and traffic monitoring to the network equipment each in network apparatus cluster；
When the network equipment control management module carries out traffic monitoring to the network equipment, once discovery Traffic Anomaly, then use
The measures such as adjustment link bandwidth are adjusted.
6. the robot real-time feedback system according to claim 1 based on cloud platform, which is characterized in that in the data
It includes a data center management client that the heart, which controls management module, is uniformly controlled by the client to cloud server cluster
Management, including starting and closing to Cloud Server each in cloud server cluster, computational resource allocation and output information prison
Control.
7. the robot real-time feedback system according to claim 6 based on cloud platform, which is characterized in that in the data
The output monitoring of heart control management module refers to being monitored the output of Cloud Server, when exception occurs in discovery output information
When scheduling is re-started to the resource of server, record current exception information and feed back to information collect control management module and
The network equipment controls management module.
8. the robot real-time feedback system according to claim 1 based on cloud platform, which is characterized in that the cloud service
Device cluster includes but is not limited to third party cloud, while containing local data center server, is set for receiving storage acquisition
All data that standby cluster uploads, handle data in real time, convert the finger for specific execution unit for processing result
It enables, passes through network real-time delivery to the execution unit.
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Application publication date: 20181127 |