CN109040304A - A kind of CloudROS cloud robot framework - Google Patents
A kind of CloudROS cloud robot framework Download PDFInfo
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- CN109040304A CN109040304A CN201811048678.1A CN201811048678A CN109040304A CN 109040304 A CN109040304 A CN 109040304A CN 201811048678 A CN201811048678 A CN 201811048678A CN 109040304 A CN109040304 A CN 109040304A
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- 238000012544 monitoring process Methods 0.000 claims description 27
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- 230000009471 action Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000011551 heat transfer agent Substances 0.000 claims description 5
- 230000007613 environmental effect Effects 0.000 claims description 3
- 238000004422 calculation algorithm Methods 0.000 claims description 2
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 238000012546 transfer Methods 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 5
- 238000002955 isolation Methods 0.000 abstract description 3
- 238000013144 data compression Methods 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
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- 210000004556 brain Anatomy 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
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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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- 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
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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
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Abstract
The present invention relates to cloud robot framework field more particularly to a kind of CloudROS cloud robot frameworks.Framework of the present invention is built based on ROS, and with the operation of ROS node mode, local and cloud server terminal establishes the data communication of ROS topic form for the service of cloud server terminal.User and robot access the service of cloud server terminal by network on demand.Compared to other existing cloud service frameworks, the feature of framework maximum is that cloud server terminal does not configure independently operated ROS network, i.e. cloud server terminal is not provided with ROS node manager, and the ROS service node of cloud server terminal needs to be registered in local ROS network.Dynamic network variation medium cloud quality of service monitor adjustment mechanism is realized in the framework simultaneously.The present invention, which facilitates the node in system, to be managed collectively.Cloud and local data format are consistent.Realize the isolation of service, starting is quicker, takes up less resources, and manages easier.
Description
Technical field
The present invention relates to cloud robot framework field more particularly to a kind of CloudROS cloud robot frameworks.
Background technique
Traditional robot when handling the very big task of data calculation amount, can expose execute speed is slow, processing accuracy is low,
The problems such as resources occupation rate is high.By taking SLAM as an example, which is typical computation-intensive task, if depending merely on robot itself
Airborne computing capability, cannot be completed effectively at all task processing.And to realize that computation-intensive is effectively treated in robot
Task, it is necessary to rely on strong operating system to serve as the brain role of robot, but these upgrade local hardware items
The problem of part inevitably can bring cost to improve.The purpose of cloud robot is exactly to unload data-intensive task to cloud
End, to discharge local operating pressure.The design of cloud robot framework needs to consider many aspects, the deployment including cloud service
Form, the service interface of cloud service, local and cloud service data communication, cloud service scheduling and cloud service isolation and cloud clothes
Monitoring etc. when business system is run to cloud service quality.According to above-mentioned design rule, multiple cloud framework schemes are suggested, including new
The Davinci for adding slope researcher to propose, what the Rapyuta and studies in China personnel that European Section scholar proposes were built
Cloudroid etc..These frameworks all realize the purpose that unloading robot calculates, but these frameworks also all have some ask
Topic, such as framework build difficulty, and service deployment mechanism is complicated or the automaticity of system is poor.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a kind of CloudROS cloud robot frameworks.
The technical solution adopted in the present invention:
Framework of the present invention is built based on ROS, and the service of cloud server terminal is with the operation of ROS node mode, local and cloud service
The data communication of ROS topic form is established at end.Whole system meets C/S framework, and cloud server terminal exposes net to user and robot
Network service interface.User and robot access the service of cloud server terminal by network on demand.Compared to other existing cloud services
Framework, the feature of framework maximum are that cloud server terminal does not configure independently operated ROS network, i.e. cloud server terminal is not provided with ROS section
Point manager, the ROS service node of cloud server terminal need to be registered in local ROS network.It is realized in the framework simultaneously dynamic
State network change medium cloud quality of service monitor adjustment mechanism.
A kind of CloudROS cloud robot framework, including cloud server terminal, cloud service interface, robotic end and user monitoring
End.Robotic end and user monitoring end pass through cloud service interface respectively and cloud server terminal interconnects.
The cloud service interface is the interface form that the service of cloud server terminal externally provides.Cloud service interface meets REST
API specification, and support multi-process management, meet the concurrent request of multirobot.The service of cloud server terminal is unique by cloud service URI
Mark, cloud service URI are made of fixed field and parameter field, and fixed field describes the information of cloud service host, parameter word
The parameter of segment description cloud service request.
The service for being deployed in cloud server terminal is made of one group of ROS node, so ROS kit abundant or process packet
The kit for meeting ROS joint form after dress can be deployed in cloud server terminal.
The cloud server terminal includes cloud service manager, authentication module, service-seeking module, status inquiry mould
Block, ROS Network conf iotag module, script execution module and application module；Cloud service manager respectively with authentication module, service
Enquiry module is connected with state-query module, is responsible for the scheduling of specific service request；Authentication module, service-seeking module and
State-query module is sequentially connected, and completes authentication, the inquiry of the service of request and the clothes of request of robot and user
The operating status of business；Authentication module, service-seeking module and state-query module are used for pretreatment stage；Pretreatment stage
Request processing stage is passed to after the completion；
ROS Network conf iotag module and script execution module are for requesting processing stage；ROS Network conf iotag module and script are held
The interconnection of row module, ROS Network conf iotag module realize service node to originally for realizing the configuration of cloud server terminal ROS environmental variance
The registration of ground ROS network, script execution module realize that service node starts and stops in application module using script file.Foot
This execution module and application module interconnect, and transfer the function in application module, realize script processing service.
Robotic end includes sensor acquisition module, request module, communication module, ROS node manager, service quality prison
Control module and setting local service tool set.ROS node manager respectively with sensor acquisition module, request module, communicate mould
Block is connected with quality of service monitor module, is responsible for processing inner scheduling information；Sensor acquisition module is responsible for acquiring various sensings
The application module of information, sensor acquisition module and cloud server terminal establishes the communication of ROS topic, after cloud service is requested, sensor
The heat transfer agent of module acquisition can be transferred to cloud server terminal and be handled.Request module and communication module realize robot jointly
Hold the service request to cloud server terminal.Request module is connected with communication module, and the data for establishing ROS service form between the two pass
Defeated, request module sends required parameter, including service name, service action and identity documents to communication module.Communication module
Required parameter building meets the cloud service URI of specification based on the received, and with the cloud service of this cloud service URI access cloud server terminal
Interface realizes the request of service.Communication module is connect with local service tool set, calls the related journey of local service tool set
Sequence completes communication function.
The connection of all modules of quality of service monitor module and robotic end, realization supervisory-controlled robot end and cloud server terminal
The service processing of data transmission parameters and cloud server terminal is as a result, to monitor the quality of cloud service under dynamic network, in cloud machine
In device people's framework, the frame per second of the processing result of network-induced delay RTT, the compression ratio of source data and cloud server terminal, which is used as, to be commented
Estimate the factor of cloud service quality (QoS).Influence the parameter of the data transmission between robotic end and cloud server terminal mainly active number
According to frame per second and source data compression ratio, when cloud service quality decline, by these parameters of appropriate adjustment, to guarantee cloud service
Stable operation in a preferable state.When network condition is not sufficient to ensure that the service requirement of cloud service, cloud server terminal
Service stopping, and at the same time the service aid collection of starting robotic end setting.When network condition restores, local service stops,
Communication module requests the service of cloud server terminal to be opened again.
Realize the monitoring of the robotary for robotic end in user monitoring end.User monitoring end include request module,
Communication module, monitoring module, ROS node manager and GUI display module.ROS node manager respectively with request module, communicate
Module, monitoring module are connected with GUI display module, are responsible for processing inner scheduling information；Request module and communication module are jointly real
Existing request of the monitoring client to service, request module and communication module establish ROS communication for service.Monitoring module and cloud server terminal are deposited
The communication of ROS topic form is established in storage service, obtains the robot data of the storage of cloud server terminal.GUI display module and monitoring mould
Block connection, shows the robot data obtained from monitoring module.
The fixed field includes service agreement field, service interface field, type of service field；Parameter field includes
Service name field, service action field and identity documents field.
The specific format of cloud service URI are as follows:
<protocol fields><interface field><type of service field><service name field><service action field><identity with
Card field >
Service agreement field is expressed as http protocol.The IP address and cloud service of service interface field expression cloud service host
The corresponding port of application program.Type of service field indicates the type of cloud service, is divided into calculating service and storage service.Service name
Field is claimed to indicate that the title of service of cloud server terminal, cloud service action field indicate the movement taken cloud service, including starting
And stopping.Authentication when identity documents field is requested for cloud service.
The application module includes: to calculate service, storage service and third party's service.The service of calculating is mainly responsible for processing
Complicated robot algorithm, unloading robot intensity calculate.Storage service uses a shared resource pond, and robotic end passes through
Cloud service interface stores the heat transfer agent of robot and environment to the shared resource pond of cloud server terminal, and user monitoring end passes through cloud
Service interface obtains the data of specified robot, thus the state of supervisory-controlled robot.Third party's service is that cloud server terminal passes through
The open interface of network insertion third party's service, to realize richer robot application.
The beneficial effects of the present invention are:
The network service interface for meeting REST API specification is designed in cloud, and service interface form is simpler.Cloud is not set
Independent ROS network is set, provides service to robot and user by the way that corresponding local ROS network is added.On the one hand, for being
Node in system, which facilitates, to be managed collectively.On the other hand, cloud and local data format are consistent.Container takes as cloud
The calculating environment of business platform realizes the isolation of service, and starting is quicker, takes up less resources, and manages easier.Cloud service system
QoS mechanism abundant is introduced in system to be monitored cloud service quality and corresponding dynamic regulation measure, guarantees that cloud service exists
Adaptive adjustment under dynamic network environment.
Detailed description of the invention
Fig. 1 is CloudROS cloud robot configuration diagram.
Fig. 2 is the drawing of cloud service quality (QoS) monitoring equipment.
Fig. 3 is robot se ce request procedure figure.
Specific embodiment
It is next with reference to the accompanying drawings of the specification that the present invention is further described.
Fig. 2 describes QoS monitoring mechanism.Cloud service expectation persistently handles high-frequency, the data of high quality.But high frequency
Rate, the data of high quality are easy to be influenced by network condition in the transmission, so that the process performance of cloud service is reduced, such as
Bigger network delay is introduced, a large amount of loss of data are handled.Qt indicates the QoS monitored to RTT, Qr expression pair in Fig. 2
The QoS that processing result frame per second monitors, Qs indicate the QoS monitored to source data compression ratio, the weight of comprehensive three QoS
As a result final QoS is obtained, dynamic regulation measure is taken according to qos value, including change data publication frequency, changes data compression
Ratio and local and cloud service switching.
Fig. 3 describes cloud service request flow chart.For calculating service, robot request module sends Service name
Claim, service action and identity documents parameter, communication module receives the URI of building request cloud service after request, and to cloud
HTTP request is initiated in service.After cloud receives the service request of robot, service request ginseng is obtained by parsing URI first
Number determines whether identity documents are effective by the voucher database of inquiry cloud setting subsequently into authenticating phase.Body
After part is verified, service of the inquiry cloud with the presence or absence of request.If service exists, the fortune of the service beyond the clouds at this time is obtained
Row state.Subsequently into the ROS network configuration stage, the configuration of ROS environmental variance is carried out to cloud, then according to service action and
Service state come complete service operation: if service state is off, service action be starting, then starting container, and
Start the ROS node in container；If service state is operation, service action is off, then stopping container, and stops holding
ROS node in device；Other situation clouds can return to the response of request error to robotic end.
Claims (3)
1. a kind of CloudROS cloud robot framework, which is characterized in that including cloud server terminal, cloud service interface, robotic end and
User monitoring end, robotic end and user monitoring end pass through cloud service interface respectively and cloud server terminal interconnects；
The cloud service interface is the interface form that the service of cloud server terminal externally provides；Cloud service interface meets REST API
Specification, and support multi-process management, meet the concurrent request of multirobot；The service of cloud server terminal is uniquely marked by cloud service URI
Know, cloud service URI is made of fixed field and parameter field, and fixed field describes the information of cloud service host, parameter field
The parameter of cloud service request is described；
The cloud server terminal includes cloud service manager, authentication module, service-seeking module, state-query module, ROS
Network conf iotag module, script execution module and application module；Cloud service manager respectively with authentication module, service-seeking mould
Block is connected with state-query module, is responsible for the scheduling of specific service request；Authentication module, service-seeking module and state are looked into
It askes module to be sequentially connected, completes the fortune of the inquiry of authentication, the service of request of robot and user and the service of request
Row state；Authentication module, service-seeking module and state-query module are used for pretreatment stage；After the completion of pretreatment stage
Pass to request processing stage；
ROS Network conf iotag module and script execution module are for requesting processing stage；ROS Network conf iotag module and script execution mould
Block interconnection, ROS Network conf iotag module realize service node to local ROS for realizing the configuration of cloud server terminal ROS environmental variance
The registration of network, script execution module realize that service node starts and stops in application module using script file；Script is held
Row module and application module interconnect, and transfer the function in application module, realize script processing service；
Robotic end includes sensor acquisition module, request module, communication module, ROS node manager, quality of service monitor mould
Block and setting local service tool set；ROS node manager respectively with sensor acquisition module, request module, communication module and
Quality of service monitor module is connected, and is responsible for processing inner scheduling information；Sensor acquisition module is responsible for acquiring various heat transfer agents,
Sensor acquisition module and the application module of cloud server terminal establish the communication of ROS topic, and after cloud service is requested, sensor module is adopted
The heat transfer agent of collection can be transferred to cloud server terminal and be handled；Request module and communication module realize robotic end to cloud jointly
The service request of server-side；Request module is connected with communication module, establishes the data transmission of ROS service form between the two, asks
Modulus block sends required parameter, including service name, service action and identity documents to communication module；Communication module is according to connecing
The required parameter building of receipts meets the cloud service URI of specification, and the cloud service interface of cloud server terminal is accessed with this cloud service URI,
Realize the request of service；Communication module is connect with local service tool set, calls the relative program of local service tool set, is completed
Communication function；
The connection of all modules of quality of service monitor module and robotic end, realizes the data at supervisory-controlled robot end and cloud server terminal
The service processing of configured transmission and cloud server terminal is as a result, to monitor the quality of cloud service under dynamic network；
Realize the monitoring of the robotary for robotic end in user monitoring end；User monitoring end includes request module, communication
Module, monitoring module, ROS node manager and GUI display module；ROS node manager respectively with request module, communicate mould
Block, monitoring module are connected with GUI display module, are responsible for processing inner scheduling information；Request module and communication module are realized jointly
Request of the monitoring client to service, request module and communication module establish ROS communication for service；The storage of monitoring module and cloud server terminal
The communication of ROS topic form is established in service, obtains the robot data of the storage of cloud server terminal；GUI display module and monitoring module
Connection shows the robot data obtained from monitoring module.
2. a kind of CloudROS cloud robot framework as described in claim 1, which is characterized in that the fixed field includes
Service agreement field, service interface field, type of service field；Parameter field includes service name field, service action field
With identity documents field；
The specific format of cloud service URI are as follows:
<protocol fields><interface field><type of service field><service name field><service action field><identity documents word
Section >
Service agreement field is expressed as http protocol；The IP address and cloud service application of service interface field expression cloud service host
The corresponding port of program；Type of service field indicates the type of cloud service, is divided into calculating service and storage service；Service name word
Segment table shows the title of the service of cloud server terminal, and cloud service action field indicates the movement taken cloud service, including starts and stop
Only；Authentication when identity documents field is requested for cloud service.
3. a kind of CloudROS cloud robot as claimed in claim 1 or 2 framework, which is characterized in that the application module
It include: to calculate service, storage service and third party's service；The service of calculating is mainly responsible for the complicated robot algorithm of processing, unloading
Robot intensity calculates；Storage service uses a shared resource pond, and robotic end passes through cloud service interface to cloud server terminal
Shared resource pond storage robot and environment heat transfer agent, user monitoring end obtains specified machine by cloud service interface
The data of device people, thus the state of supervisory-controlled robot；Third party's service is that cloud server terminal passes through network insertion third party's service
Open interface, to realize richer robot application.
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