基于云端服务资源的室内外连续监控机器人系统架构设计  

Architecture design of robot system for indoor/outdoor continuous monitoring robots based on cloud service resources

作　　者：朱博 杜泽龙 梁鸿鹏 卓明松 范希明 丁宁 倪守祥 ZHU Bo;DU Zelong;LIANG Hongpeng;ZHUO Mingsong;FAN Ximing;DING Ning;NI Shouxiang(College of Automation and College of Artificial Intelligence,Nanjing University of Posts and Telecommunications,Nanjing Jiangsu 210023,China;College of Computer Science,Software and Cyberspace Security,Nanjing University of Posts and Telecommunications,Nanjing Jiangsu 210023,China;College of Telecommunications and Information Engineering,Nanjing University of Posts and Telecommunications,Nanjing Jiangsu 210023,China)

机构地区：[1]南京邮电大学自动化学院、人工智能学院,南京210023 [2]南京邮电大学计算机学院、软件学院、网络空间安全学院,南京210023 [3]南京邮电大学通信与信息工程学院,南京210023

出　　处：《计算机应用》2022年第S01期333-341,共9页journal of Computer Applications

基　　金：国家自然科学基金资助项目(61603195);轻工过程先进控制教育部重点实验室开放基金资助项目(APCLI2004)。

摘　　要：针对传统移动监控方式智能化程度低造成操控难度和工作强度大以及本地数据管理困难的问题,面向业界对室内外移动平台统一性的迫切需求,提出了一种云端服务资源和本地自主机器人结合的系统架构。首先,给出系统结构,包括:1)为系统提供自主行为能力的自主移动机器人端,实现室内/外无缝导航、图像/视频推送等;2)提供人机和远程交互的远程监控端;3)为室内/外运行提供统一数据传输和管理通路的云数据服务边。然后,对系统进行任务架构设计,根据监控数据传输特点,采用两套商用云平台实施云数据处理任务,并为两端子系统设计了带有云交互功能的任务栈。在此基础上,结合多项云服务设计了系统软件架构。最后,采用“上下位机-协处理器-功能模块”方式设计实现自主移动机器人端硬件系统,基于机器人操作系统(ROS)节点模型构建该端软件系统;远程监控端上,主要设计图形用户界面和信息交互逻辑。实验结果表明,所设计系统仅需少量控制指令便可远距离实现室内、外环境的连续监控,且操控工作强度被有效降低,压力测试中系统指令往返时延一般不超过160 ms,多时段测试中视频码率不低于1 Mb/s,均表明系统具备应用实时性和可靠性。Aiming at the problems of difficult operation and high work intensity of traditional mobile monitoring mode with low intelligence,as well as difficulties in local data management,and facing the urgent needs of the industry for the unity of indoor and outdoor mobile platforms,a new system architecture combining cloud service resources and local autonomous robots was proposed.Firstly,the system structure was given,including:1)the autonomous mobile robot terminal providing autonomous behavior capability for the system,such as indoor/outdoor seamless navigation,image/video push;2)the remote monitoring terminal providing human-robot and remote interaction;3)the cloud data service side providing unified data transmission and management path for indoor/outdoor operation.Then,the task architecture of the system was designed,according to the transmission characteristics of the monitoring data,two sets of commercial cloud platform were used to implement the cloud data processing task,and the task stacks with cloud interaction function were designed for the subsystems at both ends.On this basis,combined with several cloud services,the system software architecture was designed.Finally,the hardware system of the autonomous mobile robot was designed based on the structure of“master-slave computer-coprocessor-function module”,and the software system was constructed based on Robot Operating System(ROS)node model;for the remote monitoring terminal,the graphical user interface and information interaction logic were mainly designed.Experimental results show that,the designed system can realize the continuous monitoring for indoor/outdoor environment from a long distance only requiring few control instructions,and the control work intensity is effectively reduced,and in the stress test,the system instruction round-trip delay is generally no more than 160 ms,and the video code rate is no less than 1 Mb/s in multi-period test.The designed system has real-time applicability and reliability.

关 键 词：移动监控 监控机器人 室内外监控 室内外导航 云监控 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]