CN109159125A - Cloud service system based on ROS system robot - Google Patents
Cloud service system based on ROS system robot Download PDFInfo
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- CN109159125A CN109159125A CN201811141394.7A CN201811141394A CN109159125A CN 109159125 A CN109159125 A CN 109159125A CN 201811141394 A CN201811141394 A CN 201811141394A CN 109159125 A CN109159125 A CN 109159125A
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- 238000004891 communication Methods 0.000 claims abstract description 44
- 230000008859 change Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
Classifications
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
-
- 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
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
-
- 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
- H04L67/50—Network services
- H04L67/56—Provisioning of proxy services
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a cloud service system based on an ROS operating system robot.A bridge provides communication interfaces of the ROS operating system, a cloud proxy server and a remote client according to a communication protocol; the cloud proxy server communicates with the bridge to obtain a communication message, and the communication message is forwarded to the remote client; the cloud proxy server communicates with the remote client to obtain a control message, and the control message is forwarded to the bridge; the remote client receives the communication message to obtain the state information of the robot; the remote client sends a control message to the cloud proxy server to control the robot to move; the cloud clone body receives the communication message, executes intensive operation to obtain an operation result, and sends the operation result to the cloud proxy server. And a three-layer client/server model is adopted, so that the robot is prevented from being used as a center, and the remote network monitoring of the robot is realized under the condition that the robot does not have a public IP address.
Description
Technical field
The present invention relates to robot technology, and in particular, to a kind of cloud service system based on ROS system robot, especially
It is to be related to a kind of cloud service system for remotely monitoring based on ROS system robot.
Background technique
Robot operating system ROS (Robot Operating System) represents the fact that robot application exploitation mark
It is quasi-.ROS provides the software abstract concept of several ranks as middleware, for hardware and resource, reduces robot software's building
Complexity.Although ROS is widely used in the application program of exploitation service robot, ROS, which lacks, passes through internet-based control and prison
Depending on the primary support of robot.And robot is combined with internet of things concept, is remotely interacted with robot by internet,
The application potential of robot can be discharged to greatest extent.Its based on cloud robot technology be one of robot technology emerging
Trend demand, it is intended to which the application for pushing robot from two dimensions using Internet of Things and cloud computing technology passes through Web service technology
It provides and the remote seamless of robot is accessed；And using cloud as the long-range brain of robot, with overcome robot calculating,
Storage and energy limit.
Although current ROS is widely used in the application program of development machines people, primary ROS lacks long-range by internet
The support of control and monitoring robot.Although ROS node can be write in the computing unit on same local area network, wherein machine
The uniform resource identifier that device people must use unique ROS host node to define, this scheme are confined to local area network and do not expand
Malleability.In typical case, each robot can start the ROS host node of oneself, and multiple robots cannot in consolidated network
Use single ROS host node.
Also there is several methods to support the robot of ROS by network-control and monitoring at present.In current existing work
In, most of related works are concentrated mainly on using client/server approach, and server is realized in robot, client
End is realized in the application, such as constructs remote controlled robot based on the application of ROSBridge and ROSJS frame.
ROSBridge can realize the long-range control to the tele-manipulator for supporting ROS, however, being with machine the shortcomings that this method
The method at the artificial center of device, when server is in robot itself, it limits the scalability of system, because robot needs
The long-range monitoring on network could be completed with public ip address.It, should due to robot usually not public ip address
Method itself does not allow to pass through Web_control Robot.
On the other hand, ROS typically operates in robot embedded end.Although robot can be allowed internal based on ROS
Multiple computing units share its calculating task, but the overall performance of robot, are still provided by all calculating of robot interior
The limitation of the summation in source.The information content of bot access is limited to its processing capacity, memory space and its sensor carried
Number amount and type, to limit its learning ability.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of clouds based on ROS operating system robot
Service system.
The cloud service system based on ROS operating system robot provided according to the present invention, including bridge, cloud agency
Server, Terminal Server Client；Bridge provides ROS operating system and cloud proxy server, remote client according to communications protocol
The communication interface at end；Cloud proxy server is communicated with bridge, obtains communication message, and communication message is enabled to be forwarded to remotely
Client；Cloud proxy server is communicated with Terminal Server Client, obtains control message, and control message is enabled to be forwarded to bridge joint
Device；Terminal Server Client receives communication message, obtains the status information of robot；Terminal Server Client sends control message to cloud generation
Server is managed, robot movable is controlled.
Preferably, the cloud service system based on ROS operating system robot further includes cloud clone, the cloud
It holds clone to receive communication message, executes intensive calculating, obtain operation result, operation result is sent to cloud agency service
Device.
Preferably, the bridge is deployed in robot interior, and the cloud proxy server deployment is beyond the clouds.
Preferably, the communication interface mainly includes that ROS reads interface, ROS parsing interface；It is from ROS that ROS, which reads interface,
Data are read in theme or the message of service, JSON layout sequence data are formed according to communications protocol, send JSON format sequence
Columnization data；ROS parsing interface is to receive JSON layout sequence data, and JSON layout sequence data are carried out unserializing
Parsing obtains control command, executes any one of control command or appoints multinomial order.
Preferably, the communications protocol mainly uses UDP transport protocol and Websockets transport protocol.
Preferably, the communication message mainly includes robot interior status information, the robot interior status information
It mainly include position, direction, battery capacity.
Preferably, the control message mainly includes operation command, the operation command mainly include it is mobile,
Execution task any one of goes to target position or appoints multinomial order.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, using three layers of CLIENT/SERVER MODEL, wherein client is realized in robot and remote application, and is serviced
Device, which is located at cloud and serves as agency, connects robot and their user, avoids centered on robot, realization pair
Robot completes network remote monitoring in the case where not having public ip address；
2, the abstract concept of ROS is completed by defining communication protocol, which is provided with shutdown by ROS theme/service
All information of device people, without the inner case to remote application exposure ROS；
3, the message of ROSClone is constructed based on ROS theme/service parameter, and message is expressed as the character of JSON format
String is a kind of solution of more lightweight with XML compared with, allows remote application objective independently of platform and unrelated with language
Family end group is developed in any programming language；
4, ROSClone provides the interaction mechanism between robot and cloud clone, being capable of appointing computation-intensive
Business is loaded into cloud execution.Robot only needs to have necessary sensor, actuator and basic operation ability, real-time to realize
Movement, hardware are more readily maintained.Robot can pass through the information and knowledge acquisition mass data of acquisition cloud database simultaneously.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is system framework schematic diagram of the invention.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
A kind of cloud service system based on ROS operating system robot provided according to the present invention, including bridge, cloud
Proxy server, Terminal Server Client；Bridge provides ROS operating system and cloud proxy server, long-range according to communications protocol
The communication interface of client；Cloud proxy server is communicated with bridge, obtains communication message, and communication message is enabled to be forwarded to
Terminal Server Client；Cloud proxy server is communicated with Terminal Server Client, obtains control message, and control message is enabled to be forwarded to bridge
Connect device；Terminal Server Client receives communication message, obtains the status information of robot；Terminal Server Client sends control message to cloud
Proxy server controls robot movable.
Specifically, the cloud service system based on ROS operating system robot further includes cloud clone, the cloud
It holds clone to receive communication message, executes intensive calculating, obtain operation result, operation result is sent to cloud agency service
Device.
Specifically, the bridge is deployed in robot interior, and the cloud proxy server deployment is beyond the clouds.
Specifically, the communication interface mainly includes that ROS reads interface, ROS parsing interface；It is from ROS that ROS, which reads interface,
Data are read in theme or the message of service, JSON layout sequence data are formed according to communications protocol, send JSON format sequence
Columnization data；ROS parsing interface is to receive JSON layout sequence data, and JSON layout sequence data are carried out unserializing
Parsing obtains control command, executes any one of control command or appoints multinomial order.
Specifically, the communications protocol mainly uses UDP transport protocol and Websockets transport protocol.
Specifically, the communication message mainly includes robot interior status information, the robot interior status information
It mainly include position, direction, battery capacity.
Specifically, the control message mainly includes operation command, the operation command mainly include it is mobile,
Execution task any one of goes to target position or appoints multinomial order.
Cloud service system of the invention is a set of ROSClone system on cloud, is one three layers of client/service
Device model.Wherein client is realized in robot and remote application, and server is located at cloud and serves as agency for robot
It is connected with their user, server end is real in the publicly available cloud of entitled ROSClone proxy server
Existing, which serves as the intermediary between robot and application, robot and application and disappears to the transmission of ROSClone proxy server
Breath, proxy server forward these messages to another party.Remote supervisor can remotely access the machine without public IP
People.There is no servers for robot interior, therefore it is no longer followed centered on robot, avoid the scalability of robot by
Limit.Remote supervisor can remotely access the robot without public IP, be carried out in this way by internet to robot virtual
Change, realize long-range control and monitoring.The abstract concept that ROS is completed by defining a communication protocol, will not be sudden and violent to remote application
Reveal the inner case of ROS.Receive the message of distal end in the ROSClone bridge of robot interior, and is converted to robot interior
ROS theme/information on services.ROSClone system provides the interaction mechanism between robot and cloud clone, using light
Magnitude asynchronous communications protocol will support the robot of ROS to be connected with application, and realize the clone of robot beyond the clouds.In this way
The task of computation-intensive can be loaded into cloud execution, using cloud as the long-range brain of robot, to overcome machine
Calculating, storage and the energy limit of people.
The present invention allows ROS robot to establish its clone beyond the clouds by the communication protocol of lightweight, further with
Remote control program or other machine human world carry out interaction based on cloud.It is that each robot adds one on the basis of ROS
ROSClone bridge, this bridge send the state of all robots using JSON serialized message.ROSClone bridge
It is the node of a robot interior ROS, interested all themes and service in the accessible ROS of this node, and
Selected information is sent in ROSClone message with JSON layout sequenceization, these message are sent to the cloud ROSClone agency
Server.Cloud proxy server processing message and the robot for forwarding them to remote supervisor or other collaborations.This
Outside, cloud application program is sent to robot using ROSClone JSON message by ROSClone cloud proxy server and is ordered,
These message are handled by the ROSClone bridge in robot later, thereby executing corresponding ROS operation.ROSClone bridge joint
Device is the chief component of system, it mainly provides two as the interface between robot operating system ROS and communications protocol
A function: (1) reading data from ROS theme and the message of service, according to communications protocol specification with JSON layout sequence number
According to, and transmit data to proxy server or client application；(2) JSON serialized data is received and from JSON character
String unserializing, resolve command, and execute order.ROSClone proxy server serves as ROSClone bridge and (is embedded in machine
In device people) and the application programs such as cloud robot clone between proxy server, its effect is by ROSClone bridge
It connects device and application program is linked into the robot for supporting ROS.ROSClone proxy server is mainly between robot and cloud program
The transponder of message, it allows cloud clone to update robotary, and the control command of user is transmitted to robot.This
Outside, ROSClone proxy server is interacted with cloud component, maintenance and management robot and user list, creation mapping,
And execute all management functions, including safety, quality of service monitor etc..ROSClone client application substantially represents
The application of control and the monitoring of robot.The condition monitoring of robot is from ROSClone communication message, and it passes through
ROSClone message sends commands to control robot movable.
In order to be interacted between the different piece of cloud service system, i.e., in ROSClone bridge, ROSClone generation
It is communicated between reason server and ROSClone client application, designs special ROSClone communication protocol.ROSClone
Communication protocol is based primarily upon two o'clock: (1) the transport protocol design communicated between user, cloud and robot；(2) message is advised
The design of model and its serializing and unserializing based on JSON format.
ROSClone bridge, ROSClone proxy server and ROSClone client are all led to using network interface
Letter.In the implementation, consider to use two kinds of transport protocols of UDP and Websockets.Robot by real-time Transmission internal state (such as
Position, mileage, speed etc.) arrive ROSClone proxy server, be further sent to the cloud ROSClone clone and
ROSClone client application.Message defined in ROSClone communication protocol is
Close the information of order and its parameter.Type of message based on exchange defines the message format of one group of support, and can be according to need
Seek easy expansion.Message can be divided into two types: (1) status message, these are the message that robot is sent, and predominantly have shutdown
The information of device people's internal state, including its position, direction, battery capacity etc..(2) command messages, these are clone and client
End application program is sent to the message of robot, so that robot is executed the order of certain operations, such as move, and executes and appoints
Business, goes to target position etc..Message and the examples of types of order are as follows: heartbeat message: robot regularly publishes message with clear
It is state of activation；Movement message: in robot task, position and kinematic parameter of the robot in some specific time are specified
(i.e. linear and angular speed)；Sensor messages: several sensor messages exchange the data between robot and user such as
IMU, laser scanner, camera image, GPS coordinate, actuator state etc.；Action command: in the robot navigation based on ROS,
It needs certain orders being sent to robot, specifies different types of order so that robot takes action on demand.It can be based on use
The requirement at family and available information from robot design other kinds of message.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
It, completely can be by the way that method and step be carried out programming in logic come so that provided by the invention other than system, device and its modules
System, device and its modules are declined with logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and insertion
The form of controller etc. realizes identical program.So system provided by the invention, device and its modules may be considered that
It is a kind of hardware component, and the knot that the module for realizing various programs for including in it can also be considered as in hardware component
Structure；It can also will be considered as realizing the module of various functions either the software program of implementation method can be Hardware Subdivision again
Structure in part.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (7)
1. a kind of cloud service system based on ROS operating system robot, which is characterized in that including bridge, cloud agency's clothes
Business device, Terminal Server Client；
Bridge provides the communication interface of ROS operating system and cloud proxy server, Terminal Server Client according to communications protocol；
Cloud proxy server is communicated with bridge, obtains communication message, and communication message is enabled to be forwarded to Terminal Server Client；Cloud
End proxy server is communicated with Terminal Server Client, obtains control message, control message is enabled to be forwarded to bridge；
Terminal Server Client receives communication message, obtains the status information of robot；Terminal Server Client sends control message to cloud
Proxy server controls robot movable.
2. the cloud service system according to claim 1 based on ROS operating system robot, which is characterized in that further include
Cloud clone, the cloud clone receive communication message, execute intensive calculating, operation result are obtained, by operation result
It is sent to cloud proxy server.
3. the cloud service system according to claim 1 based on ROS operating system robot, which is characterized in that the bridge
It connects device and is deployed in robot interior, the cloud proxy server deployment is beyond the clouds.
4. the cloud service system according to claim 1 based on ROS operating system robot, which is characterized in that described logical
Communication interface mainly includes that ROS reads interface, ROS parsing interface；
It is to read data from ROS theme or the message of service that ROS, which reads interface, forms JSON layout sequence according to communications protocol
Change data, sends JSON layout sequence data；
ROS parsing interface is to receive JSON layout sequence data, and JSON layout sequence data are carried out unserializing parsing,
Control command is obtained, any one of control command is executed or appoints multinomial order.
5. the cloud service system according to claim 1 based on ROS operating system robot, which is characterized in that described logical
News agreement mainly uses UDP transport protocol and Websockets transport protocol.
6. the cloud service system according to claim 1 based on ROS operating system robot, which is characterized in that described logical
Interrogating message mainly includes robot interior status information, and the robot interior status information mainly includes position, direction, battery
Electricity.
7. the cloud service system according to claim 1 based on ROS operating system robot, which is characterized in that the control
Message processed mainly includes operation command, and the operation command mainly includes movement, execution task, goes to target position
Any one of or appoint multinomial order.
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| CN111464422A (en) * | 2020-03-27 | 2020-07-28 | 北京海益同展信息科技有限公司 | Interaction method, interaction device, electronic equipment and storage medium |
| CN111474866A (en) * | 2020-04-07 | 2020-07-31 | 杭州迅蚁网络科技有限公司 | ROS-based motion control simulation method and system for unmanned storage station |
| CN112398897A (en) * | 2020-04-24 | 2021-02-23 | 江南大学 | Wireless remote-controlled robot system design scheme based on Socket communication |
| CN113498496A (en) * | 2019-03-14 | 2021-10-12 | 欧姆龙株式会社 | Control system |
| CN113596035A (en) * | 2021-07-30 | 2021-11-02 | 深圳元戎启行科技有限公司 | ROS cross-platform communication method and system |
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| CN113794775A (en) * | 2021-09-14 | 2021-12-14 | 上海景吾智能科技有限公司 | Robot control management method and system |
| CN114157997A (en) * | 2021-11-26 | 2022-03-08 | 山东新一代信息产业技术研究院有限公司 | IROS topic bridging method, equipment and medium |
| CN114363422A (en) * | 2021-12-31 | 2022-04-15 | 深圳市普渡科技有限公司 | Indoor robot and control system and method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111474866B (en) * | 2020-04-07 | 2023-11-10 | 杭州迅蚁网络科技有限公司 | Unmanned warehouse station motion control simulation method and system based on ROS |
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| CN113794775A (en) * | 2021-09-14 | 2021-12-14 | 上海景吾智能科技有限公司 | Robot control management method and system |
| CN114157997A (en) * | 2021-11-26 | 2022-03-08 | 山东新一代信息产业技术研究院有限公司 | IROS topic bridging method, equipment and medium |
| CN114363422A (en) * | 2021-12-31 | 2022-04-15 | 深圳市普渡科技有限公司 | Indoor robot and control system and method thereof |
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