CN112346959A - Virtual-real combined multi-robot application test platform and test method - Google Patents
Virtual-real combined multi-robot application test platform and test method Download PDFInfo
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Abstract
The invention discloses a virtual-real combined multi-robot application test platform and a test method, wherein the test platform comprises: a Bluetooth communication subsystem as a bottom communication module; a hierarchical base control subsystem for interacting with a plurality of robots; the user interaction subsystem: the system comprises a mapping module, a user interaction interface, a keyboard control module and a pattern forming example calculation module; a built-in multi-robot application module: the system comprises a centralized synchronous circle forming calculation module for verifying the correctness and performance of a platform; the test platform also comprises an external monitoring camera module which is used for monitoring the running condition of the experiment platform and the positions of the robots in real time. By using the technical scheme provided by the invention, the multi-robot cooperative application program can be conveniently tested and verified by a virtual-real combined method.
Description
Technical Field
The invention belongs to the technical field of mobile computing, robots and software engineering, relates to a multi-robot application technology, and particularly relates to a virtual-real combined physical test platform and a test method for multi-robot cooperative application, which are low in cost, easy to deploy and convenient to operate.
Background
Research and application of multi-robot experimental platforms has made some progress, but achieving practical simulations from theory to real environment through small-scale robot teams to large-scale deployment of stable multi-robot systems is still a complex and time-consuming project. Moreover, the real deployment of multi-robot experimental platforms is critical to the development of multi-robot research applications, because it is difficult for a simulator to simulate all the problems associated with multi-robot collaborative tasks that may be encountered in a real environment and to obtain credible results. In addition, it has been difficult for researchers of multi-robot collaborative algorithms to deploy real multi-robot experimental systems, and it has become more difficult to analyze the results obtained on multi-robot experimental systems and to discover potential problems. Therefore, a physical simulation experiment platform which is convenient to use and stable is very important for research and application in the field of multi-robot cooperation.
However, many of the existing multi-robot experimental platforms developed are not suitable for multi-robot application research. For example, Robotarium, proposed by Pickem et al, is a multi-robot research device that can be safely used remotely. The functions of this platform include automatic location tracking, automatic charging, algorithm security checks, and algorithm execution that can be certified for collision avoidance. Robotarium, while available remotely, does not allow the user to use the sensor information on the robot, resulting in insufficient information being available. The E-puck robot designed by Mondada et al, although rich in functionality, has no system framework to support multi-robot application research. The Kilobot robot designed by Rubenstein et al aims at cluster behavior research, but the robot function is too single to be used for multi-robot application research. Therefore, a multifunctional and easily deployed multi-robot experimental platform is needed in the field of multi-robot application research to help research and application personnel test and verify multi-robot cooperative application programs.
Disclosure of Invention
Herein, a mobile cloud computing application refers to an application that is suitable for a mobile device and can use cloud computing technology. The mobile platform refers to a platform on which an operating system, middleware and the like running on the mobile device support the running of application programs.
The invention aims to provide a virtual-real combined multi-robot application test platform and a test method, the existing multi-robot application technology is difficult to solve the problems that an operating system needs to be modified and only a certain specific mobile platform needs to be supported when a mobile cloud computing application program is developed and operated at present, and research application personnel can conveniently test and verify the multi-robot cooperative application program through the virtual-real combined multi-robot application test platform provided by the invention.
The core of the invention is:
while many robot developers now provide individual-directed control interfaces through which a user can simply control robot motion. However, this is far from sufficient for multi-robot application development research users, and users cannot directly test and verify multi-robot cooperative application on the basis of individual robots. The invention discloses a multi-robot experimental platform and a matching system which are easy to deploy based on individual mobile robots, and helps a user to test and verify multi-robot cooperation application. A user can use the invention to quickly build a multi-robot cooperative application experiment platform and a system, run a built-in motion control program and a test case, and vividly display an application execution process. In addition, the user can run own application on the built multi-robot cooperative application platform, and the correctness and the stability of the application are tested and verified in a real physical environment. In order to realize the functions, the invention firstly realizes that the bottom layer communication module realizes the Bluetooth communication subsystem. The present invention then implements a hierarchical basic control subsystem through which a user can interact with multiple robots. On top of the basic control subsystem is a user interaction subsystem, including a mapping module, a user interaction interface, a keyboard control module, and a patterning example algorithm. The built-in multi-robot application includes a centralized synchronized circle formation algorithm for verifying the correctness and performance of the platform. In addition, the invention also comprises an external monitoring camera module for monitoring the running condition of the experiment platform and the positions of the robots in real time.
The technical scheme provided by the invention is as follows:
a virtual-real combined multi-robot application test platform comprises: a Bluetooth communication control subsystem as a bottom communication module; a hierarchical base control subsystem for interacting with a plurality of robots; the user interaction subsystem: the system comprises a mapping module, a user interaction interface, a keyboard control module and a pattern forming example calculation module; a built-in multi-robot application module: the system comprises a centralized synchronous circle forming calculation module for verifying the correctness and performance of a platform; the test platform also comprises an external monitoring camera module which is used for monitoring the running condition of the experiment platform and the positions of the robots in real time. By using the virtual-real combined multi-robot application test platform provided by the invention, researchers can conveniently test and verify multi-robot cooperative application programs.
In specific implementation, the invention comprises the following modules:
B1. and the Bluetooth communication control subsystem is used for binding a local serial port with the MAC address on the individual robot, interacting with the robot through the serial port of the read-write operation system, issuing a specific motion control command, reading data of a sensor on the robot and dynamically monitoring the communication conditions of the connection.
B2. The basic control subsystem comprises four parts, which are respectively: the system comprises an individual robot monitoring module, a relative position monitoring module, a node management module and a multi-robot cooperation control algorithm (such as a circle forming algorithm) module.
B21. The individual Robot monitoring module comprises an ROS (Robot Operating System) message System, monitors individual Robot control information in the cluster through the ROS message System, converts the control information into a specific movement command through a control algorithm, and then sends the movement command to the Bluetooth communication control subsystem through the ROS message System.
B22. The relative position monitoring module uses a coordinate transformation system of the ROS. The invention is provided with a calibration two-dimensional code with a determined position, the position of each robot relative to the calibration two-dimensional code is calculated through a relative position monitoring module, and the position of each robot is in a safe range through a position control algorithm.
B23. The node management module is used for starting a plurality of individual robot monitoring modules and monitoring the operation conditions (communication connection state, current state of the robot and the like) of the modules.
B24. The control algorithm module is used for calculating movement control information of the robot based on the current robot position and the target point position, and sending the control information to the individual robot monitoring module through the ROS message system. The control algorithm module is internally provided with a basic PID control algorithm, and a user can also use a self-defined control algorithm (multi-robot cooperation algorithm) through an interface reserved in the control algorithm module.
B3. The user interaction subsystem is an interface for interaction between a user and the experiment platform and comprises a user interaction interface, a mapping module, a pattern forming algorithm library and a keyboard control module.
B31. The user interaction interface is a graphical interface capable of carrying out real-time interaction, and a user can control the experiment platform by using a mouse and can observe the operation condition of the platform through images and maps.
B32. The library of patterning algorithms includes the basic patterning algorithms, and the user may also use his own patterning algorithms via the interface.
B33. The keyboard control module is a simple interactive interface and sends commands to the robot by monitoring keyboard events, so that a user can simply control the robot through the keyboard.
B34. The map drawing module is used for drawing a two-dimensional map of the experiment platform, and when the two-dimensional map is initialized, the information of the whole experiment platform, such as the positions of boundary mark points and the two-dimensional codes and port configurations of all small robots, needs to be acquired. After the initialization is completed, the mapping module starts to update the two-dimensional map of the mapping module at regular intervals, wherein the two-dimensional map comprises the position of the small robot and the target position. In the updating process, a mutual exclusion lock needs to be added to the two-dimensional map, so that the conflict between the updating process and the reading process is prevented.
B4. The camera monitoring subsystem comprises an external camera and a two-dimensional code identification module; the method comprises the steps of obtaining an external image of a test platform through an external camera, identifying the position of a two-dimensional code and the position of a boundary two-dimensional code of a robot by using a two-dimensional code identification module, and finally issuing the position information of each individual robot in a cluster under the visual angle of the camera through a specific message format and a coordinate conversion system in an ROS (robot operating system).
When the test platform is used for testing and verifying the multi-robot cooperation application program, the method comprises the following steps:
A1. the hardware part for building the test platform comprises a small computer, an external camera and a large liquid crystal display screen which is connected with the small computer and can display a map, wherein the liquid crystal display screen and the external camera are connected to the small computer, and the liquid crystal display screen is used as a display of the small computer. The method described by the invention can reduce the time spent by a user in a hardware environment.
A2. And the requirement of a deployment research platform on an experimental space is reduced. Because the size of the running map can be adjusted by the display screen for displaying the map, a user can select experimental environments with different sizes according to actual requirements, and the user can conveniently demonstrate the algorithm.
A3. The test platform packages the bottom layer program on the individual robot, and a user can use the whole software system conveniently. In the process of using the experimental platform, a user only needs to be concerned about realizing the high-level multi-robot algorithm and does not need to be concerned about interaction between a bottom-level system and communication.
A4. The application platform should have a visual interface (i.e., a mapping module, which is displayed on a large liquid crystal display) for researchers to visually observe the operation status of the multi-robot cooperation algorithm.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a virtual-real combined multi-robot application test platform and a test method. The user can conveniently test and verify the multi-robot cooperative application program by using the invention without repeatedly building a fussy hardware verification platform. The invention reduces the difficulty of building the actual experimental environment by a method of combining virtuality and reality, and researchers can simulate the real experimental environment through the virtual experimental environment on the virtual map, thereby rapidly verifying the performance of the multi-robot cooperative application program in different environments.
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Fig. 1 is a block diagram of a virtual-real combined robot application test platform according to the present invention.
Fig. 2 is a real diagram of a virtual-real combined robot application test platform provided in the embodiment of the present invention.
Fig. 3 is a diagram showing the operation of the test platform according to the embodiment of the present invention.
Detailed Description
The invention will be further described by way of examples, without in any way limiting the scope of the invention, with reference to the accompanying drawings.
The invention provides a virtual-real combined multi-robot application test platform, which can solve the problems that an operating system needs to be modified and only a certain specific mobile platform needs to be supported when a mobile cloud computing application program is developed and operated in the conventional multi-robot application technology.
Fig. 1 is a structural diagram of a virtual-real combined robot application test platform according to an embodiment of the present invention, including: a Bluetooth communication control subsystem as a bottom communication module; a hierarchical base control subsystem for interacting with a plurality of robots; the user interaction subsystem: the system comprises a mapping module, a user interaction interface, a keyboard control module and a pattern forming example calculation module; a built-in multi-robot application module: the system comprises a centralized synchronous circle forming calculation module for verifying the correctness and performance of a platform; the test platform also comprises an external monitoring camera module which is used for monitoring the running condition of the experiment platform and the positions of the robots in real time.
Fig. 2 is a real diagram of a virtual-real combined robot application test platform provided in the embodiment of the present invention. The specific embodiment of the invention is as follows:
A. the specific implementation of the bluetooth communication control subsystem is as follows:
A1. in order to improve the stability and portability of the system, the bluetooth communication control subsystem should be organized into two levels, namely a serial communication module of a bottom read-write serial port and an upper communication thread of which the upper layer can complete abstract functions of different robot layers, and a corresponding communication monitoring module is also arranged. The serial port communication module is used for packaging basic communication operations, and comprises initializing the module according to an input port address, establishing connection and disconnection, reading data with a specified length from the serial port, writing the data with the specified length into the serial port, forcibly refreshing a buffer zone and discarding the data with the specified length in the serial port. In order to maintain the real-time performance of communication and reduce the influence of modules in the same system, an upper-layer communication module needs to run in a single thread, and data is read and new data is written in through a serial communication module through a timer according to a certain time interval. The communication thread on the upper layer needs to realize basic communication operations related to the individual robot, such as connection establishment and disconnection through a designated port, reading serial odometer data, setting the running speed, running mode and advancing direction of the robot, reading infrared sensor data, setting an LED lamp and the like.
A2. In practical use, the bluetooth-based communication system may be unstable, for example, may be in a dead cycle when the port cannot be read, and may be jammed during the communication process. Therefore, a monitoring module is needed to compensate the problems on the basis of software, so that the bluetooth communication control subsystem is more stable, and the functions of the monitoring module comprise uniformly starting the bluetooth communication modules of all the robot nodes, checking the running condition of each module at regular time intervals, and restarting the module when the module exits or is jammed.
B. The external camera monitoring system acquires a real-time image of the research platform through an external camera, identifies two-dimensional code information of the robot and the boundary, and finally issues the position information through the global system. The specific embodiments are as follows
B1. In order to maximize the characteristic of easy platform deployment, the experimental platform of the invention has to reduce the difficulty of configuring the camera, so that the relative position of the robot in a two-dimensional plane can be accurately obtained as long as the whole experimental platform can be seen from the camera no matter where the camera is. To achieve this goal, the present invention uses two-dimensional code patterns as markers of the experimental platform boundary. When the real-time image is analyzed, the monitoring system not only analyzes the position of the two-dimensional code on the robot, but also analyzes the position of the boundary two-dimensional code, so that the high-rise system can calculate the relative position of the robot through the boundary two-dimensional code.
B2. The two-dimension code identification module is based on an open source code library Alvar, and aims to simultaneously identify a plurality of two-dimension code objects under strict time requirements. In order to integrate the two-dimension code identification module into the whole experiment system, the invention uses a coordinate conversion system to respectively send identification pose data.
C. The basic control system is divided into 4 levels according to the abstraction degree, and is respectively an individual robot monitoring program, a relative position monitoring module, a node management module and a position control algorithm module, and the specific implementation scheme is as follows:
C1. the individual robot monitoring module is an interface of the Bluetooth communication control subsystem and the high-level interactive system and is responsible for communication connection between the two systems. When starting, the individual robot monitoring program needs to have two starting parameters, which are the robot number and the corresponding port number. In order to improve the reusability and reliability of codes, the individual robot monitoring program also needs to encapsulate a connection module and a disconnection module of the bluetooth communication control subsystem. In addition, in order to make the entire system more convenient for testing, the individual robot monitor program should implement both the keyboard control interface and the speed control interface.
C2. The relative position monitoring module is an interface between the individual robot monitoring module and the control algorithm module. The method obtains the plane positions of the small robot and the target point through monitoring a TF coordinate conversion system of the ROS, packages the positions and sends the positions to the control algorithm module.
C3. The node management module is used for storing the current configuration state of the multiple robots, starting the monitoring module and the communication module of each robot and monitoring the operation conditions of the modules.
C4. And the control algorithm module calculates a specific control command according to the current trolley position and the target point position. The module provides an algorithm interface, and a user can realize a control algorithm by himself.
D. The user interaction system provides a simple interface for a user to observe and operate the multi-robot experiment platform, and the user can use the module to operate the experiment platform and observe the running condition of the trolley on the experiment platform. The interactive system includes a user interactive interface, a mapping module, a library of patterning algorithms, and a keyboard control module.
An example of a test platform is shown in fig. 3. This example is based on a small and large ground platform. The control center of the experimental platform is an Intel NUC7i7BNH mini host, the system environment is Ubuntu16.04, i7-7567U @3.5GHz 2, the internal memory is 8G, and the used external monitoring camera is a Hua Shuo Xtion depth camera. The size of the experimental platform is 65 cm x75 cm, and the height of the camera is 80 cm.
It is noted that the disclosed embodiments are intended to aid in further understanding of the invention, but those skilled in the art will appreciate that: various substitutions and modifications are possible without departing from the spirit and scope of the invention and appended claims. Therefore, the invention should not be limited to the embodiments disclosed, but the scope of the invention is defined by the appended claims.
Claims (10)
1. A virtual-real combined multi-robot application test platform comprises:
a Bluetooth communication subsystem as a bottom communication module;
a hierarchical base control subsystem for interacting with a plurality of robots;
the user interaction subsystem: the system comprises a mapping module, a user interaction interface, a keyboard control module and a pattern forming example calculation module;
a built-in multi-robot application module: the system comprises a centralized synchronous circle forming calculation module for verifying the correctness and performance of a platform;
the test platform also comprises an external monitoring camera module which is used for monitoring the running condition of the experiment platform and the positions of the robots in real time.
2. The virtual-real combined multi-robot application test platform of claim 1, wherein the bluetooth communication subsystem binds a local serial port with a MAC address on an individual robot, interacts with the robot through a read-write operating system serial port, issues motion control commands and reads sensor data, and dynamically monitors the communication status of the connection.
3. The virtual-real combined multi-robot application test platform of claim 1, wherein the basic control subsystem comprises: the system comprises an individual robot monitoring module, a relative position monitoring module, a node management module and a control algorithm module; the method specifically comprises the following steps:
B21. the individual robot monitoring module comprises an ROS message system, monitors individual robot control information in the cluster through the ROS message system, converts the control information into a specific movement command through a control algorithm, and then sends the movement command to the Bluetooth communication control subsystem through the ROS message system;
B22. the relative position monitoring module acquires the relative position of the calibrated two-dimensional code determined by the relative position of the robot and the mobile target position point on the basis of a camera coordinate system by using a coordinate conversion system of the ROS, and enables the position to be within a safety range determined by the calibrated two-dimensional code;
B23. the node management module is used for starting a plurality of individual robot monitoring modules and monitoring the operation conditions of the modules;
B24. the control algorithm module is used for calculating movement control information of the robot based on the current robot position and the target point position, and sending the control information to the individual robot monitoring module through the ROS message system.
4. The virtual-real combined multi-robot application test platform of claim 3, wherein the control algorithm module is internally provided with a basic PID control algorithm or uses a self-defined control algorithm through an interface reserved in the control algorithm module.
5. The virtual-real combined multi-robot application testing platform of claim 4, wherein the user interaction subsystem is an interface for a user to interact with the experiment platform, and specifically comprises:
B31. the user interaction interface adopts a real-time interaction graphical interface, and the operation condition of the experiment platform can be controlled by using a mouse or observed by images and maps;
B32. the pattern formation example calculation module includes a library of pattern formation algorithms, using a custom pattern formation algorithm through an interface;
B33. the keyboard control module is an interactive interface and sends a command to the robot by monitoring a keyboard event so as to control the robot through the keyboard;
B34. and the map drawing module is used for drawing and updating a two-dimensional map of the platform according to the acquired platform information, wherein the two-dimensional map comprises the position of the robot and the target position.
6. The virtual-real combined multi-robot application test platform of claim 1, wherein the camera monitoring subsystem comprises an external camera and a two-dimensional code recognition module; the method comprises the steps of obtaining an external image of a test platform through an external camera, identifying the two-dimension code position and the boundary two-dimension code position of the robot by using a two-dimension code identification module, and then releasing the position information of each individual robot through a message format and a coordinate conversion system in an ROS operating system.
7. The virtual-real combined multi-robot application test platform of claim 1, wherein the control center of the test platform is an intel NUC7i7BNH mini-mainframe.
8. The virtual-real combined multi-robot application test platform of claim 7, wherein the system environment of the test platform is ubuntu16.04, i7-7567U @3.5GHz x 2; the memory is 8G; and/or the external monitoring camera is a large x tion depth camera.
9. The virtual-real combined multi-robot application test platform of claim 1, wherein the size of the test platform is 65 cm x75 cm; the height of the camera is 80 cm.
10. A testing method for virtual-real combined multi-robot application comprises the following steps:
A1. the hardware part for building the test platform comprises: a small computer, an external camera and a large liquid crystal display screen capable of displaying a map; the liquid crystal display screen and the external camera are both connected to the small computer; the liquid crystal display screen is used as a display of the small computer;
A2. adjusting a display screen for displaying a map, and selecting the size of the experimental environment space according to the requirement;
A3. installing a test platform comprising: a Bluetooth communication subsystem as a bottom communication module; a hierarchical base control subsystem for interacting with a plurality of robots; the user interaction subsystem: the system comprises a mapping module, a user interaction interface, a keyboard control module and a pattern forming example calculation module; a built-in multi-robot application module: the system comprises a centralized synchronous circle forming calculation module for verifying the correctness and performance of a platform; the test platform also comprises an external monitoring camera module which is used for monitoring the running condition of the experiment platform and the positions of the robots in real time;
A4. the test platform packages a bottom layer program on the robot, so that a bottom layer system and communication interaction can run normally;
A5. and in the test process, the condition of the multi-robot application running test is visually observed through a visual interface.
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