虚实结合的低延时工业机器人监控调试系统  

Monitoring and debugging system for low delay industrial robot combining virtual with real

作　　者：禹鑫燚[1] 应皓哲 郑坤 王犇 欧林林[1] YU Xinyi;YING Haozhe;ZHENG Kun;WANG Ben;OU Linlin(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023)

机构地区：[1]浙江工业大学信息工程学院,杭州310023

出　　处：《高技术通讯》2022年第12期1273-1282,共10页Chinese High Technology Letters

基　　金：国家重点研发计划(2018YFB1308001);浙江省教育厅一般科研(GZ20731030014);浙江省自然科学基金(LY21F030018)资助项目。

摘　　要：为了解决工业机器人监控系统监控手段单一、监控信息不全面、故障排查困难、远程监控延时高等问题,开发了一种虚实结合的低延时工业机器人监控调试系统。基于远程过程调用(RPC)框架和快速UDP互联网连接(QUIC)协议,实现了“云-边-端”协同的分布式监控系统,能够跨语言跨服务器地调用资源并降低系统延时。利用Beego框架和Vue以前后端分离的方式开发人机交互良好的Web监控系统。在后端对多类机器人的通信协议和多种数据库接口封装,实现机器人数据的采集和存储。通过采集的实时数据驱动前端的虚拟模型,以虚实结合的模式对设备运行状态进行监控。在人机安全方面,基于YOLO目标检测算法以虚拟围栏的形式为机器人划定三维的工作空间,实时检测人机的空间位置关系,保障人身安全。为保证远程控制的安全性,采用虚拟调试技术预先对机器人的运行动作在虚拟环境中进行仿真,通过仿真验证安全性后生成离线文件下发给机器人执行,保证远程调试的安全。通过实验验证了系统的可行性。An monitoring and debugging system for low delay industrial robot combining virtual with real is developed to solve the problems of single monitoring means,incomplete information,difficult troubleshooting and high delay in monitoring system.Firstly,a distributed monitoring system of cloud-edge-device synergy is implemented based on remote procedure call(RPC)framework and quick UDP Internet connection(QUIC)protocol,which can call resources across languages and servers and reduce system latency.A Web monitoring system with good human-computer interaction is developed based on the mode of Beego framework and Vue front-end separation.Encapsulate communication protocols for multi-class robots and interfaces of various databases in the back-end,realize data collection and storage of robots.The virtual model of the front-end is driven by real-time data collected to monitor the running status of devices in the mode of virtual-real combination.In man-machine security,based on the target detection algorithm YOLO a three-dimensional workspace is delimited for the robot in the form of a virtual fence,and the spatial location relationship between humans and robots is detected in real time to ensure human safety.In order to ensure the security of remote control,the virtual debugging technology is used to pre-simulate movements of robots in the virtual environment.After verifying the security,offline files are generated and sent to the robot for execution to ensure the security of remote debugging.Finally,the feasibility of the system is verified by experiments.

关 键 词：云-边-端协同 远程监控 虚实结合 QUIC协议 虚拟围栏 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TP277[自动化与计算机技术—控制科学与工程]