CN1743144A - Internet-based robot long-distance control method - Google Patents

Internet-based robot long-distance control method Download PDF

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Publication number
CN1743144A
CN1743144A CN 200510015283 CN200510015283A CN1743144A CN 1743144 A CN1743144 A CN 1743144A CN 200510015283 CN200510015283 CN 200510015283 CN 200510015283 A CN200510015283 A CN 200510015283A CN 1743144 A CN1743144 A CN 1743144A
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China
Prior art keywords
control
robot
user
time delay
module
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CN 200510015283
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Chinese (zh)
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孙启湲
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Tianjin University of Technology
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Tianjin University of Technology
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Priority to CN 200510015283 priority Critical patent/CN1743144A/en
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Abstract

A robot remote control method based on Internet is disclosed. The remote user computer is connected to the robot control website through Internet, connected to the moving robot system via LAN. When the robot control website accesses in the control requirement of the remote user computer, the system detects the delay of the user by a delay-detection module, sends the result to the control selection module, provides responding control module such as direct control, prediction control or monitoring control to the user according to the delay type. The user accesses in responding control module and controls the moving of the robot through the control interface displayed on the user terminal.

Description

Robot long-distance control method based on the internet
[technical field]
The present invention relates to the ROBOT CONTROL method, particularly a kind of robot long-distance control method based on the internet.
[background technology]
In the tele-control system based on the internet, the tele-control system of robot is the most complicated, relates to the real-time Transmission problem of instruction, data, image and environmental information.Problem in the wherein topmost Long-distance Control is the influence of time delay to control.Existing robots Long-distance Control mode generally has two kinds, is about to propagation delay time and handles according to fixed delay or two kinds of situations of varying time delay.Fixed delay is that the supposition propagation delay time is the upper bound that there are a variation in some fixed values or time delay.It is big or when changing between the zero-sum time delay upper bound, the stability of system and model accuracy are difficult to guarantee that the control system that designs in the fixed delay mode departs from fixed value in time delay.Varying time delay has then taken into full account the variability and the uncertain characteristics of network delay, thinks that time delay changes constantly, but does not consider the size of time delay.The control system of setting up on this basis, the stability of system is guaranteed, and but often is difficult to the real-time that obtains.
Simultaneously, be the robot remote control system of medium of communication with the internet, because robot is structured on the website of internet, towards the different network users.The network user inserts the mode difference of internet, and (network connection speed as common dial-up user is 56Kbps, DDN user's access speed reaches as high as 2Mbps, the highest access speed of ADSL user is descending 8Mbps, up 640Kbps, and can reach 100Mbps by user's access speed of optical fiber access internet.), the network bandwidth of internet is different with the route situation, and the variation that also causes the different remote control terminals and the communication of robotic end to have different propagation delay times and time delay is uncertain.This time delay exists and the uncertainty of variation all will make Long-distance Control be difficult to realize, and can cause the unstability of control system.Therefore delay problem is the subject matter that the network robot Long-distance Control need solve.
[summary of the invention]
The objective of the invention is in order to overcome prior art problems, and provide a kind of robot long-distance control method based on the internet, this method is directly control of basic integrated application, PREDICTIVE CONTROL and Supervised Control mode with time delay detection, thereby realizes the stable of the Long-distance Control of robot and accurately.
The present invention discloses a kind of robot long-distance control method based on the internet for addressing the above problem.Comprise that remote user computer is connected to robot control website by the internet, be connected to mobile-robot system by LAN again, it is characterized in that said robot control website is when inserting the control request of remote user computer user proposition, system detects by the time delay of time delay detection module to the user, finish the propagation delay time between user side and robot network's server is detected and classifies, then the result is passed to control mode and select module, control mode selects module directly to control by the time delay type is corresponding for the user calls according to the testing result of time delay detection module, PREDICTIVE CONTROL or Supervised Control module, the user enters the control corresponding module, and by the control interface that user side shows robot is carried out motion control; Robot location's information that said mobile robot gathers and environmental information return to the control website by wireless network.
The transmitted in both directions time delay RTT that said direct control module is a network when the user proposes to control request realizes the direct control to robot less than under the 50ms condition.
The transmitted in both directions time delay RTT that said PREDICTIVE CONTROL module is a network when the user proposes to control request realizes that the prediction of robot shows control under 50ms and 200ms condition.
The transmitted in both directions time delay RTT that said Supervised Control module is a network when the user proposes to control request is greater than under the 200ms condition, sends goal task and dependent instruction by the teleworker and finishes control to tele-robotic.
Having proposed with the time delay in Long-distance Control user request control and the control in the design of robot remote control system of the present invention is the control strategy that input parameter is chosen control mode.Difference according to heterogeneous networks user's time delay situation, provide the control corresponding mode with detected user's time delay, and serve as with reference to setting up the control model, control compensation with the environmental information of robot, with compensation since network transfer delay to the influence of control real-time.According to time delay size and steadiness, three kinds of control modes in the robot Long-distance Control, have been adopted: direct control mode, prediction display mode and Supervised Control mode.And provide condition for setting up more accurate system control model.The present invention is the robot long-distance control method towards the Internet user, can independently provide a kind of control mode that adapts with its time delay situation for the user according to user's difference.Therefore can solve the problem that can't satisfy the stability of a system and real-time at a kind of tele-control system of time delay state design simultaneously to a certain extent.Make different user can both obtain satisfied effect in control machine man-hour.
[description of drawings]
Fig. 1 control system is formed structural representation;
Fig. 2 robot control method schematic flow sheet.
[specific embodiment]
The robot long-distance control method that the present invention is based on the internet mainly is made up of three parts: remote user computer, robot control website and mobile-robot system.Network Control Segment adopts the design of browser/server network structure.Referring to Fig. 1.
Subscriber computer is any computer that is connected on the internet, and connected mode can be any modes such as dialing, ADSL and broadband.The user uses general browser to sign in to machine to go on the website and just can control robot.The computer that the long-distance user is used does not have special requirement, does not need to install special client software, does not need the user to have the robot knowledge of specialty yet.
Robot control website is mainly by the webserver (one or more server of size configure of the information content that can handle according to system's needs, native system disposes a station server and can meet the demands) realize, it logically is divided into Web service layer, Business Logic and back-end system layer, the network intelligent proxy system that provides services on the Internet and realize the robot Long-distance Control for the user.Intelligent proxy system is realized the intelligent management to user's management and robot control, as the network management that realizes robot control mode, control strategy and robot communication etc.Database is used for the relevant information of storing subscriber information, environmental information and robot; Database can be on the webserver, also can be on the independently data server that is connected on the network.Utilize wireless network card to carry out communication between the webserver and the mobile robot by LAN.
Mobile robot and robot server are formed the autonomous machine robot system.Video camera is housed on the mobile robot, and video camera has the function of monitoring, tracking and environment identification, and is responsible for providing the environmental information of robot site.Group of ultrasonic sensors also is housed in the robot,, determines the motion state of robot by to the obtaining and handle the perception environment-identification of sensor information.The user can obtain mobile robot's relevant information in real time, and further controls in view of the above.Robot server is responsible for processes sensor information and the motion control of carrying out robot.
The robot long-distance control method flow process is to be directly control of basic integrated application, PREDICTIVE CONTROL and Supervised Control mode with time delay detection in the robot of the present invention control website.As shown in Figure 2:
The long-distance user can any mode inserts the subscriber computer of internet.When the user inserted robot control website proposition control request, system detected the propagation delay time between user side and robot network's server by the time delay detection module and classifies, and then the result is passed to control mode and selects module.Control mode selects module to call control corresponding module by the time delay type for the user according to the testing result of time delay detection module, the user enters the control corresponding module, and showing this control interface at user side, the user can begin operation to robot, enters motion control.Motion control is then sent relevant control instruction and operation according to the instruction of different control modules to the robot motion.In the robot motion, robot information such as the position in robot motion's process, attitude and speed detect by the sensor of installing in the robot again, feed back to user side.
Above-mentioned and the corresponding control mode of time delay detection result are divided into: three kinds of directly control, PREDICTIVE CONTROL and Supervised Control.Wherein:
Directly control module is used to realize the direct control of robot, has the intuitive characteristics, and presence is strong in the robot control procedure, and can give full play to operator's judgement and decision-making capability.But this control mode than higher, requires the network transfer delay minor swing little to the requirement of network performance.Exist under the tangible communication time delay situation at network, control procedure will form " motion-wait " control result, reduces the efficient of control, also can the stability of control procedure be impacted.If the network communication situation is good, the little and random fluctuation of time delay just relaxes relatively, and adopting directly actuated mode will be simple and effective way.Can find in the face of in delay testing result's the analysis in the past, for the most of users under LAN subscriber and the education network condition, the propagation delay time of network is little and relatively stable in the period at each section, if propagation delay time is less than 50ms (RTT) when the user proposes to control request, the user enters direct control mode, directly send control instruction to robot, as advance, turn and stop etc.User side directly shows the scene image information (not needing compensation) of camera acquisition, and the user is by the image information manipulation robot of the real time environment at scene.And mobile robot's capacity of will can not embody under this control mode.
The PREDICTIVE CONTROL module realizes that the prediction of robot shows control.The operator comes the motor behavior of observer robot to plan by the analog simulation interface of virtual reality, guarantees the actual robot accuracy of action.In experiment, take prediction to show control mode to the situation of relatively stable type time delay (50ms and 200ms), user side no longer returns the on-the-spot realtime graphic of camera acquisition, and for the user provides through time delay being carried out the virtual emulation environmental information of predictive compensation, be that parameter is corrected the environmental information that analog simulation shows with detected time delay.With the increase of time delay, control system will reduce mobile robot's movement velocity automatically in this scope.Virtual reality technology has been adopted in the modeling of PREDICTIVE CONTROL mode, has made up environmental model and robot control model, and robot location's information of utilizing sensor to gather, and the motion state of playback robot is to produce the effect of telepresenc.
The Supervised Control module is implemented in the robot control under big network transfer delay (time delay from several seconds to a few minutes) condition.The variation of time delay is also big.Under such network condition, directly the real-time of control mode requires and can't guarantee.If adopt the PREDICTIVE CONTROL mode, can't set up accurate control model.And Supervised Control does not need the parameter of propagation delay time as model, is a good solution therefore.Because Supervised Control places operating personnel outside the control system closed loop, the teleworker only need send goal task and dependent instruction, and specific tasks are independently finished by the tele-robotic control loop.So requiring robot self is the independent closed-loop control system with certain capacity of will, be about to the time delay link and place outside the closed-loop control, adopt the algorithm of artificial intelligence to make robot have the ability of automatic obstacle avoiding, path planning.The impact point position that only needs given robot to move in control, the smart motion that robot just can utilization itself arrives the target location.The time delay link is not present within this closed-loop control system, thereby reduces the influence of time delay to whole system stability.
Long-distance user of the present invention utilizes general browser (as IE, Netscape etc.) to sign in to robot control website by being connected to the computer on the internet, can enter the main interface of robot control website.When the user clicked control request button, system call time delay detection module detected the communication time delay, and testing result is sent to control mode selection module.Control mode selects module according to the communication time delay that detects, for the user calls control corresponding mode module.If the communication time delay is less than 50ms, the direct control module of system call, the user enters direct control mode; If propagation delay time was when 50ms and 200ms when the user proposed to control request, the user enters the PREDICTIVE CONTROL mode; When detected communication time delay during greater than 200ms, system call Supervised Control module, the user will enter the Supervised Control mode.(with three kinds of corresponding time delay scopes of control mode according to repeatedly measure and result of the test definite) every kind of control mode all has corresponding patterned control interface, the user can be by clicking control button, or the impact point of designated robot motion, robot is operated.When the user carries out the control corresponding operation, control instruction corresponding sends robot bottom layer driving module to by wireless network, robot can produce corresponding motion according to instruction, as advance, retreat, turn left, turn right and stop etc., directly related with the driving of motor, this robot adopts differential type of drive that the robot motion is controlled.Simultaneously, the robot location's information of the sensor collection in the robot and the robot environment's of camera acquisition video information returns to the control website by wireless network, and shows at user side.
The user is in control procedure, and the time delay detection device regularly detects user's time delay state, if find the time delay situation marked change has been arranged, and no longer is suitable for existing control mode, then new time delay type parameter is passed to the control mode converter.The control mode converter calls the control mode that adapts with current time delay for the user again, makes the user proceed control operation.Show that in prediction the positional information correction parameter as compensation of time delay information that the time delay detection device regularly detects and robot is proofreaied and correct forecast model in the control procedure of control mode, to guarantee the precision of model.The automatic conversion of control mode is merged in the integrated use of several control modes, has guaranteed that different users successfully finishes the operated from a distance of robot under different time delay conditions.

Claims (8)

1 one kinds of robot long-distance control methods based on the internet, comprise that remote user computer is connected to robot control website by the internet, be connected to mobile-robot system by LAN again, it is characterized in that said robot control website is when inserting the control request of remote client computer proposition, system detects by the time delay of time delay detection module to the user, finish the propagation delay time between user side and robot network's server is detected and classifies, then the result is passed to control mode and select module, control mode selects module directly to control by the time delay type is corresponding for the user calls according to the testing result of time delay detection module, PREDICTIVE CONTROL or Supervised Control module, the user enters the control corresponding module, and by the control interface that user side shows robot is carried out motion control; Robot location's information that said mobile robot gathers and environmental information return to the control website by wireless network, and pass to user side.
2 according to the described long-range control method of claim 1, it is characterized in that transmitted in both directions time delay RTT that said direct control module is a network when the user proposes to control request less than under the 50ms condition, realizes the direct control to robot.
3 according to the described long-range control method of claim 1, it is characterized in that transmitted in both directions time delay RTT that said PREDICTIVE CONTROL module is a network when the user proposes to control request under 50ms and 200ms condition, realizes that the prediction of robot shows control.
4 according to the described long-range control method of claim 1, it is characterized in that transmitted in both directions time delay RTT that said Supervised Control module is a network when the user proposes to control request greater than under the 200ms condition, send goal task and dependent instruction by the teleworker and finish control tele-robotic.
5 according to the described long-range control method of claim 1, it is characterized in that said remote user computer is any computer that is connected on the internet, and the user uses general browser to sign in on the robot website robot is controlled.
6 according to claim 1 or 5 described long-range control methods, it is characterized in that said remote user computer is connected to the mode of internet, can be a kind of in dialing, ADSL and the broadband.
7 according to the described long-range control method of claim 1, it is characterized in that the robot system that said mobile robot and robot server are formed is the independent closed-loop control system with certain capacity of will.
8 according to claim 1 or 7 described long-range control methods, it is characterized in that being equipped with on the said mobile robot have monitoring, the video camera of tracking and environment recognition function, and be equipped with and obtain and handle the perception environment-identification, determine the motion state group of ultrasonic sensors of robot.
CN 200510015283 2005-09-29 2005-09-29 Internet-based robot long-distance control method Pending CN1743144A (en)

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