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A cloudros cloud robot architecture

A technology of robots and robot systems, applied in manipulators, program-controlled manipulators, structured data retrieval, etc., can solve the problems of complex service scheduling mechanism, difficult structure construction, poor system automation, etc., and achieve simple service interface form, simple management, The effect of taking up less resources

Active Publication Date: 2021-05-11
NORTHEASTERN UNIV LIAONING
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These architectures have achieved the purpose of offloading robot computing, but there are also some problems in these architectures, such as difficulty in building the architecture, complex service scheduling mechanism or poor automation of the system

Method used

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  • A cloudros cloud robot architecture
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  • A cloudros cloud robot architecture

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Embodiment Construction

[0024] The present invention will be further described below in conjunction with the accompanying drawings.

[0025] figure 2 Describes the QoS monitoring mechanism. Cloud services are expected to continuously process high-frequency, high-quality data. However, high-frequency, high-quality data is easily affected by network conditions during transmission, which reduces the processing performance of cloud services, such as introducing greater network delay and dealing with a large amount of data loss. figure 2 Among them, Qt represents the QoS obtained by RTT monitoring, Qr represents the QoS obtained by monitoring the processing result frame rate, and Qs represents the QoS obtained by monitoring the source data compression rate, and the final QoS is obtained by combining the weight results of the three QoS, and is adopted according to the QoS value. Dynamic adjustment measures, including changing the frequency of data publishing, changing the data compression ratio, and sw...

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Abstract

The present invention relates to the field of cloud robot architecture, in particular to a CloudROS cloud robot architecture. The framework of the present invention is based on ROS construction, and the services of the cloud server are all run in the form of ROS nodes, and the data communication in the form of ROS topics is established between the local and cloud servers. Users and robots access cloud server services on demand through the network. Compared with other existing cloud service architectures, the biggest feature of this architecture is that the cloud server does not configure an independently running ROS network, that is, the cloud server does not set up a ROS node manager, and the ROS service nodes on the cloud server need to be registered with the local In the ROS network. At the same time, the architecture realizes the cloud service quality monitoring and adjustment mechanism in dynamic network changes. The invention facilitates the unified management of the nodes in the system. The cloud and local data formats are consistent. Realize service isolation, start faster, occupy less resources, and manage more easily.

Description

technical field [0001] The present invention relates to the field of cloud robot architecture, in particular to a CloudROS cloud robot architecture. Background technique [0002] When traditional robots process tasks with a large amount of data calculation, they will expose problems such as slow execution speed, low processing accuracy, and high resource usage. Taking SLAM as an example, this task is a typical computing-intensive task. If the onboard computing power of the robot itself is relied on alone, the task processing cannot be effectively completed. In order for the robot to effectively handle computing-intensive tasks, it must rely on a powerful operating system to act as the brain of the robot, but these upgrades to local hardware conditions will inevitably bring about cost increases. The purpose of cloud robots is to offload data-intensive tasks to the cloud, thereby releasing local operating pressure. The design of cloud robot architecture needs to consider man...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04L29/08B25J9/16G06F16/27
CPCB25J9/1689H04L67/10H04L67/12
Inventor 程红太高乾程哲
Owner NORTHEASTERN UNIV LIAONING
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