机器人云操作平台的研究与实现
摘要
机器人遥操作技术是一门比较热门的机器人研究方向,机器人遥操作技术在科学研究领域以及工业工程领域有着非常广泛的应用。现有的遥操作系统,操作者和机器人都是特定的,普通的用户不能有好的机器人操作体验。机器人只供特定的系统使用,当操作者不使用时,机器人处于闲置状态,资源不能够有效地利用。同时,目前的遥操作系统并没有好的扩展性,机器人不能随时随地的加入到系统中。云计算是当前互联网行业一个新兴的概念,云计算平台具有较高的资源共享能力、可扩展、按需分配、虚拟化等特点使得其被应用在很多领域。
本课题中,研究将云计算思想应用在机器人遥操作系统中。本平台中,提供的机器人服务有三种类型,机器人遥操作服务、机器人音视频监控服务,机器人传感器监控服务。机器人遥操作中采用XMPP协议连接服务器,通过XML格式传输遥操作数据控制机器人运动。机器人音视频监控服务,操作者与机器人通过RTMFP协议建立P2P形式的连接,机器人端音视频数据直接发送给操作者,使操作者直观的查看机器人运动状态。机器人传感器监控服务则是向操作者反馈机器人传感器信息。本平台中,通过机器人模型模拟实际机器人的运动,采集模型机器人关节数据来代表实际机器人运动数据反馈给操作者,数据以图表的形式显示,使操作者可以直观的分析机器人运动状况。本课题搭建的机器人云操作平台完成了预期目标。
Robot teleoperation technology is a relatively popular technology to research. Recently, Teleoperation technology of Robot has a very wide range application in the field of scientific research and industrial engineering. The remote control system for a particular application, the operator and robot are specific. Ordinary users can not have a good robot opterate-experience. Robot can not be used effectively. Meanwhile, the current remote control systems have bad scalability; robots can not be added to the systems anytime and anywhere. Cloud computing is a new concept of the Internet industry. With the features of high resource sharing capabilities, scalable, ondemand and virtualization, cloud computing has be applied in many fields.
In this paper, the idea of cloud computing be applied in robot teleoperation system. In this platform, there are three types of services: Teleoperation service, audio and video services, and sensor monitoring services. XMPP protocol is for client to connect to the server. With the XML-fromatted, Robot teleoperation data is transfer to control romote robot. For audio and video monitoring services, the connection is established by RTMFP, and the type of connection is Peer-to-Peer. Robot sensor monitoring service is to feedback the information of robot sensors to the operator. In this platform, robot model is established to simulate the real robot. The data which is feedback to the operator is collected from the robot model to represent the real robot. Data is shown in graphical form, so that the operator can analyze the movement of the robot.
本课题中,研究将云计算思想应用在机器人遥操作系统中。本平台中,提供的机器人服务有三种类型,机器人遥操作服务、机器人音视频监控服务,机器人传感器监控服务。机器人遥操作中采用XMPP协议连接服务器,通过XML格式传输遥操作数据控制机器人运动。机器人音视频监控服务,操作者与机器人通过RTMFP协议建立P2P形式的连接,机器人端音视频数据直接发送给操作者,使操作者直观的查看机器人运动状态。机器人传感器监控服务则是向操作者反馈机器人传感器信息。本平台中,通过机器人模型模拟实际机器人的运动,采集模型机器人关节数据来代表实际机器人运动数据反馈给操作者,数据以图表的形式显示,使操作者可以直观的分析机器人运动状况。本课题搭建的机器人云操作平台完成了预期目标。
Robot teleoperation technology is a relatively popular technology to research. Recently, Teleoperation technology of Robot has a very wide range application in the field of scientific research and industrial engineering. The remote control system for a particular application, the operator and robot are specific. Ordinary users can not have a good robot opterate-experience. Robot can not be used effectively. Meanwhile, the current remote control systems have bad scalability; robots can not be added to the systems anytime and anywhere. Cloud computing is a new concept of the Internet industry. With the features of high resource sharing capabilities, scalable, ondemand and virtualization, cloud computing has be applied in many fields.
In this paper, the idea of cloud computing be applied in robot teleoperation system. In this platform, there are three types of services: Teleoperation service, audio and video services, and sensor monitoring services. XMPP protocol is for client to connect to the server. With the XML-fromatted, Robot teleoperation data is transfer to control romote robot. For audio and video monitoring services, the connection is established by RTMFP, and the type of connection is Peer-to-Peer. Robot sensor monitoring service is to feedback the information of robot sensors to the operator. In this platform, robot model is established to simulate the real robot. The data which is feedback to the operator is collected from the robot model to represent the real robot. Data is shown in graphical form, so that the operator can analyze the movement of the robot.
引文
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[12] Mikko Laukkanen. Extensible Messaging and Presence Protocol (XMPP). University of Helsinki Department of Computer Science
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[24]Milgram P,Ballantyne J.Real world teleoperation via virtual environment modeling[C].Proceedings of International Conference on Artificial Reality and Telexistence,1997.:1~9.
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[26]黄勇，万琴，黄晓萍等.基于XMPP标准的即时消息系统及其应用[J].2005(06).
[27]杨斌.XMPP协议分析与应用探讨[J].微型机与应用，2005(08)。
[28] Peter Saint-Andre. JEP-0055:Jabber Search. www.jabber.org/jeps/jep0055[EB/OL].http://xmpp.org/extensions/xep-0055.html. 2009-10.
[29]王璐.Web模式下基于XMPP的即时通讯系统的设计与实现[D].北京：北京邮电大学，2010.
[30]郑晓曦.基于DAG场景图的产品虚拟样机系统及其关键技术的研究[D].武汉：武汉理工大学，2004.
[31]张铁等.机器人学[M]。广州：华南理工大学出版，2002 .
[2]赵谷月。基于modelica仿真的机器人遥操作系统研究[D]。北京:北京理工大学,2010
[3]石锦。网络环境下遥操作机器人系统视频传输及多媒体信息同步研究[D]。镇江:江苏科技大学,2007
[4]肖斐.虚拟化云计算中资源管理的研究与实现[D]。西安:西安电子科技大学, 2010。
[5]熊友军。基于增强现实的遥操作关键技术研究[D]。武汉:华中科技大学,2005
[6]Brian Hayes. Cloud Computing[J]. Communications of the ACM. 2009,51(7):9-11
[7]王鹏。走近云计算[M]。北京:人民邮电出版社
[8]Goldberg K,Sascha M,Genter S,et al. Desktop teleoperation via the World Wild Web. IEEE International Conference on Robotics&Automation[C]. Nagoya:IEEE(Robotics & Aytomation Society) staff, 1995:654-659.
[9]Goldberg k,Gentner,S,Sutter C,et al. The mercury project:a feasibility study for Internet robots[C]. IEEE Robotics&Automation Magazine, 2000,7(1):35-40.
[10]Goldberg K,Chen B,Solomon R,et al. Collaborative teleoperation via the Internet[C], IEEE International Conference on Robotics&Automation,San Francisco,2000:2019-2024
[11]王鹏。走近云计算[M]。北京:人民邮电出版社,2009。
[12] Mikko Laukkanen. Extensible Messaging and Presence Protocol (XMPP). University of Helsinki Department of Computer Science
[13]董晓霞,吕廷杰。云计算研究综述及未来发展[J].北京邮电大学学报,2010,12(5):76-81.
[14] Wikipedia. Cloudcomputing [EB/OL]. http://en. wikipedia.org/wiki/Cloud_computing, 2010.07.12.
[15] Michael Armbrust al et. Above the cloud: A Berkeley View of Cloud Computing[EB/OL]. http://www.eecs.berkeley.edu/Pubs/TechRpts/2009/EECS-2009-28.html.
[16] Foster, Zhao Yong, Raicu, et al. Cloud computing and grid computing 360-degree compared[ EB /OL]. http://arxiv.org/abs/arxiv: 0901.0131. 2010-07-12.
[17] Buyyaa R, Chee S Y, Srikum arV, et al. Cloud computing and emerg ing IT platforms: vision, hype, and reality for delivering computing as the 5th utility[ J]. FutureG eneration Compute r Systems,2009, 25( 6): 599-616.
[18] LuisM V, Lu is R M, Caceres J, et al. A break in the clouds: towards a cloud definition[ J].ACM SIGCOMM Computer Commun ica tion Review, 2009, 39( 1): 50-55.
[19]刘鹏.云计算[M ] .北京:电子工业出版社, 2010: 66-67.
[20]陈康,郑纬民.云计算:系统实例与研究现状[ J].软件学报, 2009( 5): 1337-1346.
[21] Peng Liu, Yao Shi, San- li Li. Computing Pool:a Simplified and Practica l Computat ional GridModel [C] .the Second International Workshop on Gr id and Cooperative Computing (GCC 2003) ,Shanghai, 2003.12.
[22]Choung.N.Y,Kotoku.T,Ohba K,et al. Remote coordinated controls in multiple telerobotcooperation[C]. IEEE International Conference on Robotics&Automation,SanFrancisco,2000:3138-3143
[23]Saucy P, Mondada F.Open access to a mobile robot on the Internet IEEE[C].Robotics andAutomation Magazine,2000,7(l):41~47.
[24]Milgram P,Ballantyne J.Real world teleoperation via virtual environment modeling[C].Proceedings of International Conference on Artificial Reality and Telexistence,1997.:1~9.
[25]csdn. jabber技术概况[EB/OL]. http://blog.csdn.net/kunp/article/details/30465.2004-06-30.
[26]黄勇，万琴，黄晓萍等.基于XMPP标准的即时消息系统及其应用[J].2005(06).
[27]杨斌.XMPP协议分析与应用探讨[J].微型机与应用，2005(08)。
[28] Peter Saint-Andre. JEP-0055:Jabber Search. www.jabber.org/jeps/jep0055[EB/OL].http://xmpp.org/extensions/xep-0055.html. 2009-10.
[29]王璐.Web模式下基于XMPP的即时通讯系统的设计与实现[D].北京：北京邮电大学，2010.
[30]郑晓曦.基于DAG场景图的产品虚拟样机系统及其关键技术的研究[D].武汉：武汉理工大学，2004.
[31]张铁等.机器人学[M]。广州：华南理工大学出版，2002 .