CN112083724A - Remote control system and method for service robot - Google Patents
Remote control system and method for service robot Download PDFInfo
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Abstract
The invention discloses a service robot remote control system and a method, which comprises a service robot control system of a converged network, a service robot remote control based on 4G/5G technology and a service robot remote control based on Internet, wherein the service robot control system of the converged network is divided into a remote end, a behavior sequence evaluation layer and a robot end, the robot end is divided into a planning layer and a behavior layer according to a mixed structure, the service robot remote control based on the 4G/5G technology is to apply a mobile phone network to the service robot remote control, and a network framework of the service robot remote control based on the Internet comprises a client/server (C/S) mode and a browser/server (B/S) mode. The invention establishes a control system suitable for controlling the robot through the network, and realizes a service robot man-machine interaction control system based on the Internet and the 4G/5G network, so that the system has more perfect home security monitoring and security functions.
Description
Technical Field
The invention relates to the technical field of service robots, in particular to a remote control system and a remote control method for a service robot.
Background
With the rapid development of robot technology, the research of industrial robots to home service robots becomes an important direction. The development of the modern information society also promotes the development of the service robot, and the network control of the service robot becomes a research hotspot of scholars at home and abroad at present. In the current society with an aging population and an increased pressure on life, people hope that a service robot can provide better services. According to the current market data, most of the household service robots are cleaning robots and weeding robots, most of the cleaning robots and weeding robots can only complete tasks according to preset instructions, and the household service robots lack the capability of solving emergencies and even rich human-computer interaction functions.
Disclosure of Invention
The invention provides a remote control system and a remote control method for a service robot, which can improve the autonomous decision and interaction capacity of the service robot and provide customized service in combination with field conditions under emergency.
The service robot remote control system comprises a service robot control system fused with a network, a service robot remote control module based on 4G/5G technology and a service robot remote control system based on the Internet.
The service robot control system of the converged network comprises: the system comprises a remote end, a behavior sequence evaluation layer and a robot end; the robot end is divided into a planning layer and a behavior layer according to a mixed structure, the planning layer is responsible for determining a global strategy of the robot and receiving an instruction of the network control end, the behavior layer executes corresponding behaviors according to the instruction of the planning layer, all behaviors of the behavior layer are communicated with the external environment, and specific external stimuli can trigger corresponding specific behaviors.
The service robot remote control module based on the 4G/5G technology is used for applying a mobile phone network to the service robot remote control.
The network architecture of the Internet-based service robot remote control system includes a client/server mode and a browser/server mode.
Further, the behavior layer includes a reflective layer and a reactive layer. The reflective layer is used to generate an output of an action for an emergency event, such as a fire alarm, an illegal intrusion, or an emergency stop. The behaviors of the reaction layer comprise ultrasonic obstacle avoidance, target guidance and the like, the generated results need to be fused, an ultrasonic probe is arranged in front of the robot, two ultrasonic sensors are respectively arranged on the left side and the right side, and all the behaviors can directly react to information sensed from the outside and can also receive control signals sent from the planning layer to generate actions.
Further, the Internet-based service robot remote control system comprises a server side, a client side and an execution side, namely a robot side. Correspondingly, the service robot remote information interaction system can be divided into a robot end, a local server end, a server end and a client end.
Furthermore, the service robot remote control system also comprises a safety monitoring module, wherein the safety monitoring module is embedded in the service robot, is connected with a mobile communication network, and establishes a data transmission channel between the user and the robot, so as to realize 4G/5G network communication between the user and the robot, short message sending and receiving, multimedia message sending, bus communication between the robot and an upper computer, acquisition of robot camera data and image storage.
Further, the safety monitoring module comprises: the system comprises a main control chip, a 4G/5G module, an SIM card, a CAN bus, a camera and an RAM. The main control chip is connected with the robot through a CAN bus and receives instruction control of an upper computer, namely a mobile phone end, a computer end and a special remote controller, the main control chip is respectively communicated with the 4G/5G module and the camera through two UART serial ports and stores generated image data in an RAM, and the SIM card is used for terminal identification of wireless mobile communication and network transmission.
The invention also provides a working method of the service robot remote control system, which is suitable for the service robot remote control system and comprises the following steps:
performing motion analysis on the service robot to obtain the motion state of the service robot at the current moment;
a planning layer of the service robot collects user instructions to obtain a target point or a target direction, then plans a motion task based on a reactive behavior rule of a fuzzy control method and provides a decomposition target position coordinate of a guide target point or a target direction;
and the behavior layer of the service robot decomposes the target position coordinates to control the service robot to move.
Further, the motion analysis method of the service robot includes:
the method comprises the following steps: and establishing a motion equation of the service robot, and respectively establishing a world coordinate system XOY and a robot coordinate system XOY, wherein the extending direction of a y axis is the front orientation of the robot, theta is the orientation angle of the service robot relative to the coordinate system XOY, namely the included angle between an X axis and the X axis, alpha is the included angle between a target position and the current front orientation of the service robot, and beta is the included angle between the obstacle and the X axis.
Step two: setting the current position state of the service robot as (x), (t), y (t), theta (t) and the coordinates of the target point as (x)i，yi) The distance between the current moment of the service robot and the target point is rhod(t) the distance of the obstacle detected by the sensor is rho0(t), the included angle between the target vector and the current orientation of the service robot is alpha (t), the counterclockwise direction is positive, the clockwise direction is negative, and t represents the current moment;
step three: when the service robot moves to (x (t + delta t), y (t + delta t), theta (t + delta t)) after delta t time, the sensor detects the distance rho of the obstacled(t + Δ t), Δ θ is the angle that the service robot will rotate first when moving to another pose. When the robot moves to another pose, the angle delta theta required to be rotated is calculated firstly, the robot rotates to the position, and then the robot moves to a specified point in a straight line.
Δθ＝θ(t+Δt)-θ(t)
Let the moving distance from (x (t), y (t)) to (x (t + Δ t), y (t + Δ t)) service robot be l (t + Δ t):
is the included angle between the (x (t), y (t)) and (x (t + delta t), y (t + delta t)) connecting line and the (x (t + delta t), y (t + delta t)) point and barrier point coordinate connecting line;
the angle gamma (t + delta t) between the service robot and the direction of the obstacle at the point (x (t + delta t), y (t + delta t)) can be obtained
γ(t+Δt)＝π-
Further, the reactive behavior rule generation method based on the fuzzy control method comprises the following steps:
the planner in the planning layer parses the subtasks according to the current environment information and generates an optimized set of sub-targets o ═ o { (o)1，o2，...，onThe sub-targets are the coordinates of the decomposition target position, wherein o1As a starting point, onAs an end point, n is the number of decomposition target position coordinates.
The subtasks are predetermined and are broken down by a general task object. For example, the robot can complete the action of going from the living room to the kitchen for food delivery, and the cooperation of subtasks such as visual obstacle avoidance, space movement, self-mechanism linkage and the like is needed. The total task target is divided into a plurality of subtasks, which is beneficial to developing higher-level intelligence. The method needs to be established on an accurate environment model, has strict requirements on sensor data, and directly causes task failure once a certain link has problems. In a serial system, the instruction judgment and execution period is long, which has great influence on the real-time performance and flexibility of the robot.
Assigning a mark S ═ S to the coordinates of the decomposition target position1，s2，...，snAssign 0 to each quantity in S at an initial time.
At each sensor detection cycle of the service robot, when a certain sub-target o is detectediI is 1, 2,3 … n, and when occupied by an obstacle, corresponding s is assignediSet to 1 and oiThe next point is checked in sequence until the service robot moves to the target point or target direction, excluding from the sequence of target points.
After a specific coordinate position is given by a planning layer, a reactive behavior specifically realizes a task, the reactive behavior comprises a target guiding behavior for enabling the robot to move towards a designated point and an obstacle avoidance behavior for avoiding an obstacle, the two independent behaviors can be guaranteed to reach the designated point while avoiding the obstacle through fusion, and behavior design and behavior fusion are realized by adopting a fuzzy control method.
The invention has the beneficial effects that:
the invention solves the problems that the traditional service robot lacks remote control capability and the robot has local autonomy and conflict with user decision, provides a hybrid control structure of the service robot based on a network, and provides a behavior selection method aiming at the characteristics of network control and robot local autonomy, wherein the structure considers remote control factors, ensures that the local robot has effective autonomous decision and faces the indoor safety autonomous monitoring requirement of the service robot;
the invention also provides a monitoring module based on Internet and 4G/5G network, the module integrates various sensor technologies, remote interaction of emergency situations such as indoor illegal invasion, fire and the like is realized through the CAN bus, the module is favorable for modularization of the service robot, and the monitoring module has the characteristics of high integration level and high reliability, so that the network control of the service robot under the home safety monitoring environment is realized, and the problem of man-machine interaction of the service robot based on Internet is solved;
the invention adopts C/S and B/S and mixed network architecture to realize remote control and real-time video transmission of the service robot based on Internet, and the system has the characteristic of zero maintenance of a client, thereby ensuring the control feasibility of the service robot under any condition.
Drawings
FIG. 1 is a schematic diagram of a network-controlled robot system according to the present invention;
FIG. 2 is a block diagram of the hardware structure of the security monitoring module of the present invention;
fig. 3 is a layout diagram of ultrasonic obstacle avoidance sensors of the robot;
FIG. 4 is an overall circuit diagram of a service robot safety monitoring module based on 4G/5G technology;
FIG. 5 is a model of target-guided motion;
FIG. 6 is an obstacle avoidance motion model;
FIG. 7 is a sequence of behavioral priorities under normal conditions;
FIG. 8 is a sequence of behavioral priorities under abnormal conditions;
FIG. 9 is a flowchart of a security monitoring module routine;
fig. 10 is a flow chart of a robot-side communication thread.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention, the present invention will be further described in detail with reference to the following detailed description.
The service robot remote control system provided by the embodiment of the invention comprises a service robot control system fused with a network, a service robot remote control module based on 4G/5G technology and a service robot remote control system based on Internet, and is shown in figure 1.
The service robot control system of the converged network is divided into a remote end, a behavior sequence evaluation layer and a robot end. The robot end is divided into a planning layer and a behavior layer according to a hybrid structure, the planning layer is responsible for the global strategy of the robot and receives the instruction of the network control end, the behavior layer can execute corresponding behaviors according to the instruction of the planning layer, meanwhile, all behaviors are communicated with the external environment, and external stimulation can trigger corresponding behaviors.
The service robot remote control module based on the 4G/5G technology is used for applying a mobile phone network to the service robot remote control.
The network architecture for the remote control of the Internet-based service robot includes a client/server (C/S) mode and a browser/server (B/S) mode.
1. A service robot control system of the converged network:
the action layer comprises a reflecting layer and a reaction layer, the reflecting layer is used for outputting actions generated by emergencies, such as fire alarm, illegal intrusion or emergency stop, the actions of the reaction layer comprise ultrasonic obstacle avoidance, target guidance and the like, the generated results need to be fused, an ultrasonic probe is installed in front of the robot, two ultrasonic sensors are respectively installed on the left side and the right side, all the actions can directly react to information sensed from the outside, and control signals transmitted from the planning layer can be received to generate actions, and the actions are shown in figure 3.
And (3) carrying out motion analysis on the service robot:
the method comprises the following steps: and establishing a motion equation of the service robot, and establishing two coordinate systems which are respectively a world coordinate system XOY and a robot coordinate system XOY. The y axis is the orientation of the robot, θ is the orientation angle of the robot relative to the coordinate system XOY, i.e. the included angle between the X axis and the X axis, α is the included angle between the target position and the current orientation of the robot, and β is the included angle between the obstacle and the X axis, as shown in fig. 5;
step two: the current position states of the robot are (x), (t), y (t) and theta (t)), and the coordinates of the target point are (x)i，yi) Distance between two points is rhod(t) the distance of the obstacle detected by the sensor is rho0(t) an included angle between the target vector and the current orientation of the robot is alpha (t), the anticlockwise direction is specified to be positive, the clockwise direction is specified to be negative, and t represents the current moment;
step three: when the robot moves to (x (t + delta t), y (t + delta t), theta (t + delta t)) after delta t time, the sensor detects the obstacle distance rhod(t + Δ t), as shown in fig. 6, it is described here that when the robot moves to another pose, the angle Δ θ that needs to be rotated is calculated first, and the robot is rotated to this position first, and then moves linearly to the specified point;
Δθ＝θ(t+Δt)-θ(t)
the robot movement distance from (x (t), y (t)) to (x (t + Δ t), y (t + Δ t)) is set to l (t + Δ t):
the included angle between the connecting line (x (t), y (t)) and (x (t + delta t), y (t + delta t)) and the coordinate connecting line of the (x (t + delta t), y (t + delta t)) point and the obstacle point is shown in the specification.
The angle γ (t + Δ t) between the robot and the obstacle at the point (x (t + Δ t), y (t + Δ t)) can be determined
γ(t+Δt)＝π-
Reactive behavior design based on a fuzzy control method: an operator does not need to specifically control the movement details of the robot, only needs to give a target point or a movement direction, the robot end divides an instruction into a plurality of subtasks according to an autonomous decision, and the planner analyzes the subtasks according to the current environmental information and generates an optimized sub-target set o ═ o { (o)1，o2，...，onIn which o is1As a starting point, onN is the number of points as an end point, and a mark S ═ S is given to each target point at the same time1，s2，...，snInitially assign each of the quantities in S to 0. At each sensor detection cycle, when a certain target point o is detectediWhen occupied by an obstacle, will correspond to siSet to 1 and oiRemoving the target points from the target point sequence, sequentially checking the next point until the next point moves to a terminal point, and after a specific coordinate position is given by a planning layer, specifically realizing a task by using a reactive behavior, wherein the reactive behavior comprises a target guiding behavior for enabling the robot to move towards the specified point and an obstacle avoidance behavior for avoiding obstacles, the two independent behaviors can be ensured to reach the specified point while avoiding obstacles through fusion, and the behavior design and the behavior fusion are realized by adopting a fuzzy control method;
a network control and robot autonomous decision behavior sequence queuing mechanism:
when the time delay condition is serious, the robot end is released to have greater autonomy and is given higher priority, and when the network condition is improved, the control right is recovered and the priority is reduced, firstly, a mechanism for evaluating the network state and the operation level is explained as follows:
the client sends a fixed sequence as a test sequence to the robot at fixed time intervals, and the sending interval time is delta T1The robot end receives the sequence to calculate the time difference of two sequences
The network delay is delta Ti：
If the value of delta T is larger, the network blocking condition is serious, a threshold value is set for delta T, and when delta T is larger than delta TMAXTime, indicates poor network conditions.
Setting a forbidden operation area for the robot, wherein the size of the area can be defined according to an anti-collision sensor of the robot, counting the times mu of the robot entering the area within a fixed interval time, and setting a threshold value mu for the times muMAXWhen mu > muMAXTime, Δ T, which indicates that the current network side control level is lowMAXAnd muMAXThe magnitude of (1) can be greatly different under different working environments, and the current delta T is analyzed through the historical state stored in the knowledge baseMAXAnd muMAXAnd updates the current threshold.
A behavior sequence is established in a behavior sequence evaluator of the network control and robot autonomous decision, the priority is as shown in FIG. 8, the reflex behavior is usually the highest priority for processing the emergency, the instruction sent by the operator can also be regarded as a behavior which is higher than the reactive behavior, and the reactive behavior sequence is arranged according to the event generation sequence. When the evaluation mechanism considers that the network state is not good in the current year (delta T > delta T)MAX) Or when there is a problem with the operator's control level (mu > mu)MAX) The priority of the operator command is lowered and the operator is informed in a message mode, when the network is recovered or the operation level is raised, the priority of the operator is recovered again, and the priority of the action sequence under the normal condition is shown in fig. 7.
2. Service robot remote control based on 4G/5G technology
The service robot remote control based on the 4G/5G technology is based on the development of an indoor safety monitoring module: the safety monitoring module is embedded in the service robot, is connected with a mobile communication network through the module, establishes a data transmission channel between a user and the robot, needs to realize 4G/5G network communication between the user and the robot, supports Short Message Service (SMS) sending and receiving, Multimedia Message Service (MMS) sending, bus communication with an upper computer, and acquires camera data and stores images.
The safety monitoring module hardware of the service robot based on the 4G/5G technology is shown in figure 2 and comprises a main control chip, a 4G/5G module, an SIM card, CAN bus communication, a camera and an RAM, wherein the main control chip is connected with a robot end through a CAN bus, receives instruction control of an upper computer, communicates with the 4G/5G module and the camera through two UART serial ports respectively, and stores generated image data, and a specific hardware structure block diagram is shown in figure 4.
In the embodiment, a C8051F040 single chip microcomputer of a Silicon Lab company is selected as a control chip of the module, 3.3V low-voltage power supply is realized, internal resources are rich, 64KB Flash and 4KBRAM are built in, the highest operation speed can reach 25MHz, two UART interfaces, a CAN2.0B bus controller and sufficient IO ports are integrated in the module, in order to improve transmission efficiency, the baud rate of serial ports among devices in the module is set to be 115200bps, therefore, a 22.1184M crystal oscillator is selected, and the required baud rate can be accurately generated after frequency division.
The camera type number is GXT-M201 which is a micro serial port CMOS camera, the power supply voltage is 5V, JPEG image format compression with various pixel sizes can be realized inside the camera, a common instruction set is provided, the control is convenient, the single chip microcomputer can carry out operations such as image pixel size setting, serial port communication speed setting, data reading and the like by sending instructions through a serial port, a GXT-M201 communication interface is RS232 level, and therefore level conversion is required to be carried out through MAX3232 when the camera is communicated with the single chip microcomputer.
The picture size of the multimedia message JPEG IS typically around tens of KB, while the RAM size of C8051F040 itself IS 4KB, so an external 128KB RAM stores JPEG image data, and this RAM chip should match the 3.3V voltage of C8051F040, so IS62LV1024 chip IS selected.
The model of the multimedia message module is DZ04, the multimedia message module is a four-band/two-band 4G/5G engine, the working frequency is GSM850/EGSM900MHz, DCS1800MHz, PSC1900MHz, and DZ40, a UART serial port is provided for communication with the single chip microcomputer, the communication adopts a standard AT instruction, and the module needs 3.9V voltage for power supply.
A CAN2.0B bus controller is integrated in the C8051F040, when the CAN bus controller is communicated with a CAN bus, a CAN bus driver needs to be additionally arranged, the model of the driver is TJA1040, and the power supply voltage is 5V.
The network-based security monitoring module is realized by software:
the program of the module is solidified on Flash of C8051F040, and is written in C language in order to enhance the readability and portability of the program, and the overall flow of the program is shown in FIG. 9.
After the system is powered on, the hardware environment is initialized firstly, including: initializing an external crystal oscillator by using an external clock; setting a cross switch; mapping INT0, UART0, UART1, RD and WR to corresponding IO ports; initializing UART0, UART1, timers 0-4 and a CAN bus controller; setting various interrupt bits; starting a DZ04 module, powering on for resetting, and emptying the current SIM card storage area through an AT instruction; and entering a program loop body below, continuously inquiring whether an upper computer instruction or a short message instruction is received or not, executing a corresponding instruction, if the program is abnormal during execution, resetting the singlechip through the upper computer by a user, and if the time for sending the multimedia message or the short message has no response, resetting the module or the camera according to the condition of the flag bit of the program.
The communication commands of the C8051F040 and the 4G/5G module adopt AT commands, an AT command set is an industrial standard of a communication interface of a modem, the command format is simple and easy to master, the AT commands are sent from TE or DTE to TA or DCE, the AT commands are sent by the TA and the TE to control the function of the MS, and the function of the MS interacts with the GSM network service.
3. Internet-based service robot remote control
The network system for remotely controlling the service robot based on the Internet at least comprises a server end and a client end, the robot system also comprises an execution end, namely a robot end, and the remote information interaction system of the service robot can be divided into the robot end, a local server end, the server end and the client end.
Analyzing a network control framework of the service robot based on the following steps:
the method comprises the following steps of constructing a control system based on an Internet service robot, and firstly, specifying a network architecture of the system according to the characteristics of the robot, wherein the current mainstream network architecture comprises the following steps: client/server (C/S) mode and browser/server (B/S) mode, both architectures being suitable for different operating environments.
Network architecture and architecture:
the C/S architecture divides an application into two parts, namely a front end (client) and a back end (server), which are essentially represented by a relation of 'request and response', and has the following characteristics:
(1) the interactivity is strong;
(2) the safety and integrity of the data are restrained and the reliability is high;
(3) strong data processing capacity;
(4) the development and maintenance costs are high;
the B/S is a browser server architecture, under the structure, a client side does not use a specially developed program any more, but accesses through a general browser, generally, the B/S uses a three-layer architecture, namely a browser side, a WEB server side and an application server side, and the B/S architecture has the following characteristics:
(1) the most important advantages of the architecture are the standard unification and easy maintainability of the client;
(2) platform independence, the client only needs to support the browser to read, and an operating system does not need to be specially formulated;
(3) the functions are easy to expand, new update service can be issued through the server, and the client does not need to make any change;
(4) the server-side hardware requirement is high, the system is complex, and the maintenance cost is high;
in general contrast, the C/S architecture is suitable for a special network or an internal network, and has high communication speed, large data volume and high safety; the B/S framework is suitable for a wide area network, and the client representation mode is richer and easy to maintain;
the service robot hybrid network structure based on:
the complete network system at least comprises a server side and a client side, and an execution side, namely a robot side, is required for the robot system.
Because the service robot has a large range of motion and cannot access an external network through a fixed network, a service robot end adopts wireless network communication, and at present, the transmission speed of the wireless network directly accessing the external network is low, so that a local server (which can adopt a household machine) is arranged locally and connected with a wireless local area network (WIAN) of the service robot, the local server is connected to the external network through a router and communicates with a remote server, and the idea is feasible in consideration of the current popularization condition of computers in China families.
The Web server needs to process various requests of a client, and for the server of the system, the Web server also has the function of a streaming video server, namely, the Web server receives video data of a robot end and sends the video data to the client.
The Web end database stores user information and abnormal operation records of the robot; and the client accesses the website published by the Web server through the browser, and then performs network control on the robot in the family.
The service robot based remote information interaction is realized as follows:
the service robot remote information interaction system can be divided into a robot end, a local server end, a Web server end and a client end, and the client end does not need to be additionally designed due to the adoption of a C/S and B/S mixed structure, and a user can access the robot only by logging in a server site through a browser, so that the main work is designed for the robot end, the local server end and the Web server end.
Designing a service robot end control system:
the service robot end is an execution end of the whole service robot network control system, not only needs to process network transmission of data, but also needs to specifically realize a hybrid robot control system on a program, and simultaneously needs to realize other functions including CAN bus data processing, control over each module, video display and the like. Other threads may be divided into several blocks according to their function: the video communication thread and the instruction communication thread are responsible for communication; a CAN bus data receiving thread responsible for receiving sensor data; and the behavior thread block is responsible for behavior planning and processing.
(1) The communication task of the robot end is completed through a video communication thread and an instruction communication thread, the two threads use Winsock socket communication, an asynchronous non-blocking event selection WSAEventSelect model is used, the model triggers corresponding actions through selected events, and therefore working efficiency of a program can be improved.
The instruction communication thread processes motion control and sensor data sending and arranges the start and stop of the video communication thread according to the requirements of the client, a specific flow chart is shown in fig. 10, the two threads are used as a server to establish monitoring, once connection exists, the two threads are connected with the client and set events, corresponding operation is executed according to corresponding event types each time, the instruction communication thread receives the motion control, speed control and function setting instructions of the client, the sensor state is returned, and if the video control instruction is received, the video communication thread is informed of tasks needing to be completed through a message mechanism.
(2) A plurality of sensors and code discs are connected on the robot bus, so that special thread management bus data are set. The modular design is adopted, the data formats of all the sensors are uniform, the information is classified and stored into different buffer areas according to the prefix of the instruction, and the buffer areas established by the thread directly face to all the action layers.
(3) The planning layer, each behavior layer, the behavior selection coordination layer and the behavior sequence evaluation layer form a main control system of the service robot. And the state planning layer thread receives the motion instruction transmitted by the communication thread, plans the next step according to the requirement of a user, and then starts the target pointing thread to control the robot to move to the target. If there is no user command input for a while, it may not output or generate output autonomously according to the mode of operation (static monitoring or roaming status).
Each behavior layer is always in an excitation state, data received in a bus transmission thread or planning layer thread information is circularly detected according to an algorithm of the behavior layer, and once the fact that an event is triggered is judged, the behavior layer executes corresponding actions. The reactive behavior layer thread comprises an obstacle avoidance thread, and the calculation results of the target guide layer thread need to be weighted and fused through the behavior fusion thread and then output according to the principle of priority. The reflective behavior layer thread can call all functions for controlling the robot output equipment according to the priority principle;
(4) and designing a robot end control interface. The control interface is divided into several areas, namely a video display area, a playback area, a sensor information area, a direction control area, a man-machine language interaction area, a safety monitoring module function starting and owner number setting area and a port setting area.
Service robot local server/streaming video server design:
the local server program is designed into multiple threads, and the main threads are a robot end instruction and a state communication thread (thread 1); a Web server end instruction and state communication thread (thread 2); a video stream reception thread (thread 3); locally decode the display thread (thread 4); video streaming based on RTSP protocol issues thread (thread 5).
The specific implementation of the streaming media video server is as follows:
several methods for implementing streaming media video server
(1) By adopting a mature commercial scheme, such as server-side software introduced by companies such as Heyama, the software can stream a video file at a server side and distribute the video file to a client side, but the commercial version is high in price and is not beneficial to secondary development aiming at the existing application environment;
(2) the development is carried out by adopting a free open-source Streaming media Server library, such as Live555 and Darwin Streaming Server, wherein the Live555 has a clear structure and is easy to realize secondary development, the Live555 is a light-weight open-source Streaming media transmission library based on RTSP/RTP/RTCP/SIP, has a clear structure, supports various operation platforms, has good portability and is beneficial to quickly developing a Streaming media Server program;
video data buffer management:
the threads 4 and 5 are both data consumers, the data processing speed is different, the speed of the thread 4 for processing the video data at the local end is basically constant, the video data sending speed of the thread 5 has a great relation with the network condition, the RTP transmission speed is reduced under the condition of network congestion, so that the RTP transmission speed is an uncertain value, two buffer areas are set according to the characteristics of different threads, and two methods are respectively adopted for buffer area management.
The buffer area of the thread 4 is managed by adopting a linear first-in first-out FIFO mode, and in order to ensure that the size of the buffer area is not limited under the condition of memory permission, a linked list mode is used, namely, each section of data is added, a memory is applied for storing and storing additional data, meanwhile, a node is added behind the linked list and is used for storing the length of a data block, the memory address and the memory address of the next node, and the length of the linked list cannot be very long in consideration of the working speed of the thread.
The FIFO circular linked list approach is used for buffers for thread 5 streaming video transmission and is based on one consideration: if the network is seriously blocked, the buffer sequence is possibly too long, the memory occupation is excessive, the memory allocation is easier to manage in a circular linked list mode, and the occupied resources are limited.
Local video decoding and display:
the method is characterized in that an FFmpeg open source library is adopted at a local server end to decode MPEG-4 video data, FFmpeg is a complete open source solution integrating recording, conversion and audio and video decoding functions, at present, the FFmpeg supports more than 40 coding and more than 90 decoding modes, the decoded video data display adopts DirectDraw technology display, the Microsoft DirectX software development tool box is a basic part related to video input and output, a development kit carried by a video compression card is used, the FFmpeg and DirectDraw libraries are further packaged, and a user can directly call API functions to complete decoding and display.
The service robot server design based on technology:
at present, a plurality of means can realize the design of a Web server, common Web development scripting languages include Perl, VBScript, JavaScript and other high-level languages, Forton, C + +, Java and other high-level languages, and the languages can be used for developing an interactive interface between a client and the server and an application program framework of the Web server.
JSP (Java Server Page) is an extension of Servlet technology, and each JSP file is compiled into Servlet by a JSP engine, so that the JSP integrates the technical characteristics of the Servlet well, and based on the consideration, the JSP/Servlet is adopted to realize the design of a Server; and adopting Flash to manufacture the client page in consideration of aesthetic property.
4. Remote control experiment of service robot
Modular service robot platform: the experiment platform adopts a security robot of Haerbin Industrial university Haerbin robot Limited, and the robot adopts a modular design, so that the robot has the advantages of facilitating the function expansion of the robot and being beneficial to the design standardization.
The system of the robot platform is divided into a plurality of modules which are mutually independent and CAN be expanded according to a protocol, and the communication among the modules is realized by adopting a CAN bus, so that the robot platform has the following advantages:
(1) the transmission speed is high, the speed of a CAN bus used in the platform is 1Mbps, and the data transmission requirement is well met;
(2) the safety is high, and the error correction capability is good;
(3) the expansibility is good, and the number of communication nodes in the network is theoretically not limited;
(4) the nodes CAN freely communicate with each other, the CAN bus adopts a multi-master competition mechanism, and any node CAN be used as a master node.
Remote control experiment design and analysis of service robot
Remote control experiment based on network:
experiment one:
the method comprises the steps of firstly designing a 4G/5G network-based robot fire detection alarm experiment verification system for remote control feasibility under a 4G/5G network and capability of processing emergency events in a man-machine interaction process, wherein the characteristics of the fire at the initial stage are mainly pyrolysis, a large amount of smoke is generated, the smoke comprises complete combustion substances (CO2 and water) and incomplete combustion substances (CO), because the fire has many uncertain characteristics and cannot be accurately modeled, a fuzzy control method is selected for judgment, and a fire detection behavior is designed on the behavior layer, and information of a CO sensor, a smoke sensor and a temperature sensor is viewed to comprehensively judge whether the fire occurs.
Experiment two:
aiming at the security function of a service robot, an experiment for detecting illegal invasion based on 4G/5G is designed, firstly, a detection behavior of illegal invasion is designed, the robot uses an infrared spectrum sent by an infrared sensor through the infrared thermal effect of a human body to detect whether an invader exists, when the infrared sensor of the robot in a monitoring state has a signal, namely, a target appears, the sensor signal can trigger the detection behavior of illegal invasion, the robot takes pictures and records and obtains evidence through video recording, considering that a camera of the robot has a certain shooting range, only the direction of the picture of the target needs to be determined generally, the robot rotates left first until the infrared signal disappears and records the current rotation angle theta1The robot rotates right again until the infrared signal disappears, and records the current rotation angle theta2Calculating the target direction and then adjusting the position angle to thetaobjAnd taking a picture and sending the multimedia message to the host.
The experimental procedure was as follows: firstly, an owner sends an instruction to control the robot to enter a monitoring state through a short message at a far end, the robot defaults all living bodies to be invaders in the state, and once the robot finds the invaders, the robot takes pictures and sends multimedia messages and records videos;
remote control experiment based on network:
experiment one:
the feasibility of transmission through an Internet network is verified, the Internet-based service robot remote control system is feasible in network transmission, the feasibility of motion control needs to be verified, a complex environment is set in an experiment, a motion control algorithm is not added, the execution capacity of the system is verified simply, and an operator controls the robot to pass through an obstacle to reach a target point through a Web end in the experiment.
Experiment two:
the robot automatically avoids the obstacle under remote control, an operator at a remote end gives a movement direction through a browser, the robot avoids the obstacle while executing human decision, the robot keeps straight line travel at a distance far away from the obstacle, and when the ultrasonic sensor detects the obstacle, the robot actively avoids the obstacle and meanwhile keeps the original movement direction substantially.
Experimental results show that the robot can avoid obstacles in the target guiding process, and the rationality of behavior design is proved.
In a fire detection alarm experiment based on the Internet network, according to the characteristics of a fire when the fire happens, a fuzzy control fire judgment method through a smoke sensor, a temperature sensor and a CO sensor is designed, simulation is carried out, in an illegal intrusion experiment, a method for judging an intruder through an infrared sensor is designed, the two experiment results show that the service robot can react to the fire and the illegal intrusion and returns back through a 4G/5G network in a 4G/5G network mode, and the purpose of an expected multimedia message is achieved;
in addition, the feasibility of the system and the reliability of motion control are firstly verified in the Internet robot network control part, the result shows that the Internet-based service robot network control can realize the motion control and real-time video stream transmission, the robot autonomous obstacle avoidance and target guidance experiments under the Internet control are designed aiming at the problems of operator decision and robot local intelligent cooperation under the network control, and the experiment result proves that the robot can realize the local autonomous obstacle avoidance behavior and the target guidance behavior under the control of an operator.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. The service robot remote control system is characterized by comprising a service robot control system fused with a network, a service robot remote control module based on 4G/5G technology and a service robot remote control system based on the Internet;
the service robot control system of the converged network comprises: the system comprises a remote end, a behavior sequence evaluation layer and a robot end; the robot end is divided into a planning layer and a behavior layer according to a hybrid structure, the planning layer is responsible for determining a global strategy of the robot and receiving an instruction of the network control end, the behavior layer executes corresponding behaviors according to the instruction of the planning layer, all behaviors of the behavior layer are communicated with the external environment, and specific external stimuli can trigger corresponding specific behaviors;
the service robot remote control module based on the 4G/5G technology is used for applying a mobile phone network to remote control of the service robot;
the network architecture of the Internet-based service robot remote control system comprises a client/server mode and a browser/server mode.
2. The service robot remote control system according to claim 1, wherein: the behavior layer comprises a reflecting layer and a reaction layer;
the reflective layer is used for generating action output for emergency events, such as fire alarm, illegal intrusion or emergency stop;
the reaction layer is used for collecting external information and directly making a reaction according to a mapping relation between the external information and a specific action, or generating an action according to a control signal sent by the planning layer.
3. The service robot remote control system of claim 1, wherein the Internet-based service robot remote control system comprises a server side, a client side, and an execution side, i.e., a robot side.
4. The service robot remote control system according to claim 1, further comprising a security monitoring module embedded inside the service robot, connected to a mobile communication network, establishing a data transmission channel between the user and the robot, for implementing 4G/5G network communication between the user and the robot, sending and receiving short messages, sending multimedia messages, bus communication between the robot and an upper computer, collecting robot camera data and storing images.
5. The service robot remote control system according to claim 4, wherein the safety monitoring module comprises: the system comprises a main control chip, a 4G/5G module, an SIM card, a CAN bus, a camera and an RAM;
the main control chip is connected with the robot through a CAN bus, the main control chip is respectively communicated with the 4G/5G module and the camera through two UART serial ports, generated image data are stored in the RAM, and the SIM card is used for terminal identification of wireless mobile communication and network transmission.
6. Method of operating a service robot remote control system, suitable for use in a service robot remote control system according to claims 1-5, characterized in that it comprises:
performing motion analysis on the service robot to obtain the motion state of the service robot at the current moment; a planning layer of the service robot collects a user instruction to obtain a target point or a target direction, then plans a motion task based on a reactive behavior rule of a fuzzy control method and provides a decomposition target position coordinate guiding the target point or the target direction;
and the decomposition target position coordinates of the behavior layer of the service robot control the service robot to move.
7. The operating method of the service robot remote control system according to claim 6, wherein the motion analysis method of the service robot comprises:
the method comprises the following steps: establishing a motion equation of the service robot, and respectively establishing a world coordinate system XOY and a robot coordinate system XOY, wherein the extending direction of a y axis is the front orientation of the robot, theta is the orientation angle of the service robot relative to the coordinate system XOY, namely the included angle between an X axis and the X axis, alpha is the included angle between the target position and the current front orientation of the service robot, and beta is the included angle between the obstacle and the X axis;
step two: setting the current position state of the service robot as (x), (t), y (t), theta (t)) and the coordinates of the target point as (x)i，yi) The distance between the current moment of the service robot and the target point is rhod(t) the distance of the obstacle detected by the sensor is rho0(t), the included angle between the target vector and the current orientation of the service robot is alpha (t), the specified counterclockwise direction is positive, the specified clockwise direction is negative, and t represents the current moment;
step three: when the service robot moves to (x (t + delta t), y (t + delta t), theta (t + delta t)) after delta t time, the sensor detects that the distance of the obstacle is rhod(t + Δ t), Δ θ is the angle that the service robot will rotate first when moving to another pose,
Δθ＝θ(t+Δt)-θ(t)
let the service robot movement distance from (x (t), y (t)) to (x (t + Δ t), y (t + Δ t)) be l (t + Δ t):
is the included angle between the (x (t), y (t)) and (x (t + delta t), y (t + delta t)) connecting line and the (x (t + delta t), y (t + delta t)) point and barrier point coordinate connecting line;
the included angle gamma (t + delta t) between the service robot and the direction of the obstacle at the point (x (t + delta t), y (t + delta t)) can be obtained
γ(t+Δt)＝π-
8. The service robot remote control system operating method as claimed in claim 6,
the method for generating the reactive behavior rule based on the fuzzy control method comprises the following steps:
the planner in the planning layer analyzes the subtasks according to the current environment information and generates an optimized sub-target set o ═ o { (o)1，o2，...，onThe sub-targets are the coordinates of the decomposition target position, wherein o1As a starting point, onAs an end point, n is the number of the decomposition target position coordinates; assigning a mark S ═ S to the decomposition target position coordinates1，s2，...，snAt the initial moment, every one of SThe value of the quantity is 0;
when a sub-target o is detected in each sensor detection period of the service robotiI is 1, 2,3 … n, and when occupied by an obstacle, corresponding s is assignediSet to 1 and oiExcluding from the sequence of target points, the next point is checked in turn until the service robot moves to the target point or target direction.
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