CN106506589A - A robot cluster method and system - Google Patents

Abstract

The invention discloses a robot clustering method and a robot clustering system, wherein a control system comprises a control center, a calculation and data center, calculation and data nodes, a local area network mobile control terminal, a remote mobile control terminal and a robot body; the control center, the calculation and data node, the local area network mobile control terminal, the remote mobile control terminal and the robot body are all accessed to the Internet/local area network; the robot body comprises a router, a switch and a network camera which are connected in sequence; the switch is connected with an industrial personal computer; the router is communicated with the human-computer interaction terminal; and the man-machine interaction terminal is communicated with the Internet/local area network through a WIFI hotspot or a 3G/4G base station. The invention improves the reliability of networking of each device in the robot; the system has multiple network types (3G, 4G, local area network and Internet) and can be selected to be networked or accessed; besides various state conditions of the robot, the robot is managed and controlled, and the robot has the capacity of managing and controlling the robot abnormity.

Description

A robot cluster method and system

technical field

The invention relates to a robot cluster networking and comprehensive management and control method and system.

Background technique

The wireless connection capability of each module and equipment of the existing robot body is relatively weak, and the wireless signal is easily disconnected; after the existing robot is connected to the Internet through 3G/4G, the IP of the robot is a local area network, and the robot and the internal network cannot be directly accessed from the external network. Equipment; video surveillance is fixed, and there are certain monitoring blind spots; video surveillance cameras are arranged on the top of the wall or higher than the head of the person, and a person wears a hat to cover the face, making it easy for criminals to avoid surveillance; there is no LAN and The background terminal and mobile terminal of the Internet check the status, behavior and surrounding environment of the robot in real time, and perform corresponding control and task assignment; the GPS position is not reported to the backend in real time through the network, and the robot's position is not displayed in real time on the backend map ; There is no multi-machine coordination control function.

Contents of the invention

The technical problem to be solved by the present invention is to provide a robot cluster method and system for the deficiencies of the prior art.

In order to solve the above technical problems, the technical solution adopted in the present invention is: a robot cluster system, including a management and control center, a computing and data center, computing and data nodes, a local area network mobile management and control terminal, a remote mobile management and control terminal, and a robot body; Management and control center, computing and data center, computing and data nodes, local area network mobile control terminal, remote mobile control terminal, and robot body are all connected to the Internet/local area network; the robot body includes routers, switches, and network cameras connected in sequence; the switch It is connected with an industrial computer; the router communicates with the human-computer interaction terminal; the human-computer interaction terminal communicates with the Internet/local area network through a WIFI hotspot or a 3G/4G base station.

The network camera includes front, rear, left and right four cameras, which are respectively fixed on the front, rear, left and right sides of the robot shell.

A robot cluster method, including controlling the robot state, controlling the real-time absolute position and local relative position of the robot, controlling the surrounding environment of the robot, task planning and control and patrol process control, and controlling the abnormal behavior of the robot, wherein:

The process of controlling the state of the robot includes: the industrial computer reports the power and voltage data of the robot in real time through the network, the state code of the state machine, the data of the collision switch, the state of the actuator, the speed of the left and right wheels, the state of the pallet, the horizontal offset angle of the head, and the ultrasonic wave. Obstacle perception data and anti-fall sensor data are sent to computing and data nodes or remote computing and data centers; computing and data centers or computing and data nodes search for data, and forward these data to the management and control center, the customer’s corresponding management and control nodes and Mobile management and control terminal; the management and control center, the management and control node corresponding to the customer and the mobile management and control terminal will display the specific data on the interface after receiving the data;

The process of controlling the real-time absolute position and local relative position of the robot includes: the human-computer interaction terminal or the built-in GPS sensor of the industrial computer, real-time reporting of the robot's own GPS position, local relative coordinates and angle data to the computing and data node or remote computing and data center ; The calculation and data center searches the database, finds the corresponding control center or control node, and forwards the location data; the position monitoring terminal of the control center and the background control node receives the GPS position and real-time local position data, and sends the GPS position or real-time local The location is displayed on the map, and the location of the robot is displayed in real time;

The process of controlling the surrounding environment of the robot includes the abnormal license plate recognition process and the abnormal face recognition process. The abnormal license plate recognition process includes: the control node enters the location of the area or the building in advance, and sends it to the computing and data center; the industrial computer obtains 4 camera recognition in real time The received license plate number is sent to the Computing and Data Center or Computing and Data Node, and the Computing and Data Center or Computing and Data Node is compared to the database. Stolen license plate or revoked license plate, forward the above situation to the corresponding control node or control center. After the control node or control center receives it, it will report it in text, picture or sound according to a certain security level on the interface; the security The level refers to the highest security level for revoked license plates, the second for stolen license plates, the second for license plates belonging to non-local areas or buildings, and the lowest security level for license plates in this area or buildings;

The abnormal face recognition process includes: pre-entering the photos and text information of wanted criminals, domestic and international violent terrorists, members of cult organizations, and international speech anomalies through the control node, and sending them to the computing and data center; the industrial computer obtains them in real time The screens of the four cameras are sent to the computing and data center or computing and data nodes, and the computing and data centers or computing and data nodes use the artificial intelligence neural network search method to search for the face model data and forward the detection results to the corresponding After receiving it, the control node or control center will report it in text, picture or sound according to a certain level of danger on the interface; the level of danger refers to the highest level of danger for wanted criminals and the highest level of danger for violent terrorists. The danger level is next, the danger level of cult organization personnel is next, and the danger registration of abnormal members of speech organizations is the lowest;

Mission planning and control and patrol process control include: controlling the robot to walk, controlling the action of the actuator, adjusting the volume of the robot, setting the patrol task, charging, restarting and shutting down, and controlling the execution of the patrol task.

The process of controlling the abnormal behavior of the robot includes: after the control center, the control node corresponding to the customer and the mobile control terminal obtain the state and position data of the robot from the computing and data node or the remote computing and data center through the network, discover the behavior of the robot In the event of deviation from the scheduled route or execution of unplanned tasks, correct the posture and position of the robot.

Compared with the prior art, the present invention has the beneficial effects as follows: the present invention improves the reliability of networking of various devices inside the robot; it has multiple network types (3G, 4G, local area network and Internet) that can be selected for networking or connection. In addition to controlling the various states of the robot, it has the ability to control the abnormal behavior of the robot; it has the ability to control the real-time absolute position and local relative position of the robot; it has the ability to intelligently control the surrounding environment of the robot in a full range of 360 degrees without dead ends, which is dangerous to public safety. Personnel (wanted criminals, domestic and international violent terrorists, members of cult organizations, international speech anomalies, etc.) Center, the management and control nodes of each outlet, and mobile management and control terminals without geographic location restrictions) to realize the above-mentioned management and control.

Description of drawings

Fig. 1 is the overall block diagram of the system of the present invention;

Fig. 2 is a robot body network connection diagram of the present invention;

Fig. 3 is a program architecture diagram of the computing and data center of the present invention;

Fig. 4 is the basic flowchart of the calculation and data center program of the present invention;

Fig. 5 is a flow chart of accessing the cluster network in the present invention;

Fig. 6 is a flow chart of the association method of the present invention;

Fig. 7 is the realization process diagram of the real-time status monitoring of the robot body of the present invention;

Fig. 8 is a diagram of the realization process of real-time location control in the present invention;

Fig. 9 is a process diagram of realizing the abnormal recognition and warning of the camera license plate and face of the present invention;

Fig. 10 is an implementation process diagram of task allocation and control of the present invention;

Fig. 11 is a flowchart of the management and control of the execution of the patrol task in the present invention.

detailed description

The robot body system includes routers, switches, network cameras, industrial computer systems and human-computer interaction terminals;

The router can be a WiFi router, or a 3G or 4G router, which is fixed inside the robot, and the LAN port provides a wired network connection switch;

The switch is fixed inside the robot, one port is connected to the router, and the other port is connected to the network camera and industrial computer;

The industrial computer system includes industrial computer equipment and industrial computer software. The industrial computer equipment is fixed inside the robot, and the corresponding software is installed in the memory of the industrial computer;

The human-computer interaction terminal is fixed on the head of the robot; it is directly connected to the internal router of the robot through WiFi, and can also be connected to WiFi hotspots around the robot;

The network camera is fixed in four directions or on the top of the robot shell; the network camera has the effect of 360 monitoring without dead angle, and can capture the surrounding images in real time; the network camera also includes an intelligent photosensitive system, which can automatically sense the surrounding light, and When the light is dark, the LED next to the camera is automatically turned on, so that the robot can obtain clear images in a dark environment.

Both computing and data centers and computing and data nodes are composed of servers. Since computing and data centers need to support more robots and various control terminals, the configuration of computing and data centers is higher, and server clusters can be formed; each server It consists of a CPU computing unit and a disk storage queue. The computing power of the CPU is represented by the collection and forwarding of the robot status and GPS position, the analysis of client requests, the forwarding of various control commands (including walking, actuators, etc.), and is also responsible for performing storage operations. ; Among them, the storage capacity is represented by customer information, customer account number, robot configuration and multimedia data storage; computing and data centers and computing and data nodes support load balancing, and can process various data quickly in real time; the architecture diagram of the server is shown in Figure 3, The technical architecture of the server program is divided into 4 layers. The input and output layers are responsible for the communication interface with the outside world. The business layer serves the input and output layers and is specifically responsible for the realization of logic functions for communication with the outside world. The core layer serves the business layer and is responsible for the basic architecture. And the realization of basic functions, the monitoring layer is responsible for monitoring whether the program is normal, and is responsible for killing and restarting the program when it is abnormal; the basic flow chart of the server program is shown in Figure 4.

The computing and data nodes are deployed at the customer site;

The control center is connected to the Internet;

The background management and control node is deployed at the customer's site;

The router wireless bridge or WDS in the local area of the robot is wirelessly connected to the WiFi hotspot in the surrounding environment of the robot. The WiFi hotspot can be connected to the local area network to connect to the local computing and data nodes, and the WiFi hotspot can also be connected to the remote computing and data center;

The process of setting up the cluster management and control system is shown in Figure 5. The steps are: 1. Register the robot user information, account name and password in the computing and data center or the computing and data nodes in advance, and enter the network camera, industrial computer and The IP and port of the human-computer interaction terminal, and use the robot ID to bind the corresponding user name, all IP and ports of each robot in the database; 2. Each device inside the robot (industrial computer, human-computer interaction terminal and each camera) , each terminal of the control center and control node (video monitoring terminal, map monitoring terminal, and operation terminal), and the mobile control terminal log in to the computing and data center or computing and data node, and report their own ID information; 3. Computing and data The center or computing and data nodes associate the socket connected by each client (a term for computer programming, see the explanation of terms) and the reported ID with the user name using the data structure queue, and add or update it to the internal, the specific association method As shown in Figure 6, there are 6 data linked list queues including robots, human-computer interaction terminals, video monitoring terminals, map monitoring terminals, operating terminals and mobile control terminals (linked list belongs to the term of computer programming, see the explanation of terms. Each data The structure is composed of three basic members: socket, ID and user name ID, and each data structure is connected into a linked list in the computer program clock); 4. The management and control center described later can log in to the computing and data center to access all robot body systems IP and ports of all devices inside; 5. As shown in the system general diagram 1, the remote mobile control terminal can be connected to the network through 3G, 4G or WiFi anywhere in the world, and log in to the computer with a user name and password With the data center, get the IP and ports of all devices in the robot body system corresponding to the user name; 6. The control node and the mobile control terminal of the LAN use the user name and password to log in to the computing and data node, and get the user The IP and port of all devices in the robot body system corresponding to the name.

In the present invention, various means of cluster management and control are as follows:

After the remote management and control center and management and control nodes are connected to the management and control system network, they are composed of video monitoring terminals, position monitoring terminals and control terminals, and are responsible for monitoring the surrounding environment of a certain area in real time, and managing and controlling all robots in a certain area to execute corresponding tasks. Actions and tasks, real-time video storage of the surrounding environment when the robot is moving or not moving, the configured disk array records the images of the robot's surrounding environment in real time, and provides post-event video access.

When using WiFi to connect, the customer point can build a management and control node, and users in the customer area can log in to the system through mobile devices such as mobile phones and pads to realize functions similar to the management and control center.

1. Manage and control various states of the robot

Including local relative coordinates and angles, power and voltage data, status code of the state machine, collision switch data, status of the actuator (constraint fork), speed of the left and right wheels, pallet status, horizontal offset angle of the head, and the impact of ultrasonic waves on obstacles. Sensing data and anti-fall sensor data;

The implementation process is shown in Figure 7:

The industrial computer system reports the data of the robot to the calculation and data node or the remote calculation and data center in real time through the network according to the self-defined protocol format; the calculation and data center or the node searches for the data, and forwards the data to the control The management and control nodes and mobile management and control terminals corresponding to the center and customers; these terminals display specific data on the interface after receiving.

2. Control the real-time absolute position and local relative position of the robot

The implementation process is shown in Figure 7: the human-computer interaction terminal or the built-in GPS sensor of the industrial computer will report the GPS position of the robot itself to the computing and data node or remote computing and data center in real time; the computing and data center searches the database and finds The corresponding control center or control node forwards the position data; the position monitoring terminal of the control center and the background control node receives GPS and real-time local position data, and displays the GPS or real-time local position on the map , which can display the location of the robot in real time.

3. All-round intelligent control of the surrounding environment of the robot

Use multiple network cameras to form 360-degree monitoring without dead angle, support night vision function, and intelligently analyze abnormal license plates and abnormal faces;

The implementation process is shown in Figure 8:

Get the IP and port of the internal network or external network of the corresponding robot to the control center, background control node, local area network and remote mobile control terminal through the user name, and transfer all or part of the robot corresponding to the user name through the streaming media client software Real-time screen preview, recording and playback retrieval;

The process of abnormal license plate recognition is shown in Figure 9: the area or building is entered in advance through the control node, and sent to the computing and data center; the four cameras installed on the robot are capable of license plate recognition, and the industrial computer software obtains four real-time data through the corresponding API. The license plate number recognized by the camera is sent to the computing and data center or computing and data node, and the computing and data center or computing and data node is compared to the database. License plate, stolen license plate, revoked license plate, etc., forward the situation to the corresponding control node or control center. After the control node or control center receives it, it will immediately report it in text, picture or voice according to a certain security level on the interface .

The abnormal face recognition process is shown in Figure 9: through the control node, the photos and text information of the wanted criminals, domestic and international violent terrorists, members of cult organizations, and international speech abnormalities are entered in advance in this area or building, and sent to the computer and the data center; the industrial computer software obtains the pictures of the four cameras through the corresponding API in real time, and sends them to the computing and data center or computing and data nodes, and the computing and data centers or computing and data nodes use the neural network search algorithm, and after searching , forward the result to the corresponding control node or control center according to a certain format. After receiving the result, the control node or control center will immediately report it in text, picture or sound according to a certain risk level on the interface.

4. Mission planning and control and patrol process control

Including controlling the robot to walk, controlling the actuator (such as arm, head, restraint fork, etc.), adjusting the volume of the robot, setting the patrol task, charging, restarting and shutting down, etc., as shown in Figure 10, and controlling the execution of the patrol task. As shown in Figure 11.

5. After the management and control center, the management and control node corresponding to the customer, and the mobile management and control terminal obtain the state and position data of the robot from the computing and data node or the remote computing and data center through the network, it is found that the behavior of the robot deviates from the predetermined route, execute In the case of an unplanned task, control instructions for pausing, shutting down, and position correction can be sent in real time through the task planning and control method to correct the attitude and position of the robot;

6. Management and control realized by multi-machine collaboration

The robots are distributed according to the map area, and the robots in each area are responsible for the designated area to patrol, monitor and provide service functions. The robots in the area share their location and surrounding environment data through the network.

Claims (3)

1. a kind of robot cluster system, it is characterised in that including management and control center, calculate and data center, calculating and data section Point, LAN movement control terminal, remote mobile control terminal, robot body；In the management and control center, calculating and data The heart, calculate with back end, LAN movement control terminal, remote mobile control terminal, robot body access internet/ LAN；Router that the robot body includes being sequentially connected, switch, IP Camera；The switch and industry control Machine connects；The router is communicated with human-computer interaction terminal；The human-computer interaction terminal by WIFI hot spot or 3G/4G base stations with Internet/the local area network communication.

2. robot cluster system according to claim 1, it is characterised in that the IP Camera include forward and backward, Left and right four cameras, are separately fixed at front portion, rear portion, left side and the right side of robot shells.

3. a kind of robot cluster method, it is characterised in that including management and control robotary, the real-time absolute position of management and control robot With local relative position, the surrounding enviroment of management and control robot, mission planning and control and patrol process management and control, management and control robot Abnormal behaviour, wherein：

The process of management and control robotary includes：Electricity and voltage data, shape of the industrial computer by network real-time report robot The conditional code of state machine, impact switch data, the state of executing agency, left and right wheel speed, pallet state, the horizontal-shift angle of head Degree, ultrasonic wave are to the perception data and dropproof sensing data of barrier to calculating and back end or long-range calculating and number According to center；Calculate and data center or calculating and back end searching data, by these data forwardings to management and control center, client couple The management and control node that answers and mobile control terminal；Management and control center, the corresponding management and control node of client and mobile control terminal receiving data Show specific data afterwards on interface；

The process of the real-time absolute position of management and control robot and local relative position includes：Human-computer interaction terminal or industrial computer are built-in GPS sensor, the GPS location and local relative coordinate of real-time report robot itself and angle-data are to calculating and back end Or long-range calculating and data center；Calculate and data center's searching data storehouse, find corresponding management and control center or management and control node, Position data is forwarded the past；The monitoring position terminal of management and control center and backstage management and control node receives GPS location and real-time office Portion's position data, and GPS location or real-time local location are shown on map, show robot belonging positions in real time；

The flow process of the surrounding enviroment of management and control robot includes car plate anomalous identification process and face anomalous identification process, car plate exception Identification process includes：The prior typing one's respective area of management and control node or mansion position, are sent to calculating and data center；Industrial computer is real-time The license plate number that 4 cameras are recognized is obtained, calculating and data center or calculating and back end is sent to, in calculating and data The heart is calculated and back end comparison data storehouse, has several situations：Return in one's respective area or mansion ownership car plate, non-one's respective area or mansion Category car plate, stolen car plate, revoke car plate, above-mentioned situation be transmitted to corresponding management and control node or management and control center, management and control node or After management and control center receives, circulate a notice of out with word, picture or sound by certain safe class on interface；Described safety Grade refer to revoke the safe class highest of car plate, stolen car plate secondly, non-one's respective area or mansion ownership car plate thirdly, local area The car plate safe class of Yu Huo mansions is minimum；

Face anomalous identification process includes：By the prior typing wanted criminal of management and control node, internal and international sudden and violent probably molecule, heresy group The photo of abnormal personnel and the Word messages such as personnel, international speech aberrant molecules is knitted, calculating and data center is sent to；Industrial computer Get the picture of 4 cameras in real time, be sent to calculating and data center or calculating and back end, calculate and data center Or calculate with back end by artificial intelligence neural networks searching method, after searching faceform's data, by testing result Be transmitted to corresponding management and control node or management and control center, after management and control node or management and control center receive, certain danger is pressed on interface Dangerous grade is circulated a notice of out with word, picture or sound；The danger classes refers to the danger classes highest of wanted criminal, fears cruelly molecule Danger classes secondly, cult personnel hazard grade subsequently, the danger registration of speech tissue abnormalities molecule minimum；

Mission planning and control and patrol process management and control include：Control robot ambulation, the action of control executing agency, adjustment machine The volume of people, patrol mission is set, is charged, restart and is shut down, and to patrol mission implementation status management and control；

The process of management and control robot abnormal behaviour includes：Management and control center, the corresponding management and control node of client and mobile control terminal lead to Cross the state and position data that network gets robot from calculating and back end or long-range calculating with data center Afterwards, it is found that the behavior of robot occurs deviateing projected route, executes the situation of unplanned interior task, revise the attitude of robot And position.