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Interoperation middleware testing system and method for heterogeneous mobile robots

A mobile robot and testing system technology, applied in the field of mobile robots, can solve problems such as shortage, and achieve the effects of user-friendly, simple use process, and convenient operation

Inactive Publication Date: 2020-11-27
中国兵器科学研究院 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, there is a lack of an interoperable middleware test system for heterogeneous mobile robots in China. Through task-driven interoperable middleware integration, testing and evaluation, the consistency, integrity and real-time performance of data exchange on heterogeneous robot platforms can be tested. Universal control and interoperability for heterogeneous robots

Method used

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  • Interoperation middleware testing system and method for heterogeneous mobile robots
  • Interoperation middleware testing system and method for heterogeneous mobile robots
  • Interoperation middleware testing system and method for heterogeneous mobile robots

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0048] Such as figure 1 As shown, the interoperability middleware test system for heterogeneous mobile robots, the system includes four parts: the control terminal (OCU), the mobile robot node using the RCS architecture, the mobile robot node using the ROS architecture, and the virtual scene presentation node.

[0049] The control terminal mainly sets the working mode of the mobile robot, and can send tasks and remote control instructions to the robot, and receive and display the status information fed back by each mobile robot. According to functional requirements, it consists of four parts: remote control command sending module, autonomous path following task sending module, formation task sending module and pose display module.

[0050] (1) The remote control command sending module is mainly used to test the motion response ability of a single mobile robot. In remote control mode, it controls the motion of the mobile robot in the USARSim virtual scene by selecting the IP a...

Embodiment 2

[0071] The present invention is used for interoperability middleware performance test, and five computers are configured, one of which runs the control terminal, one runs the USARSim virtual simulation scene, one computer is used as a mobile robot node adopting ROS architecture, and the other two are used as The specific configuration of the mobile robot node of the RCS architecture is shown in Table 1.

[0072] Table 1 Simulation test hardware configuration

[0073]

[0074] The test process steps are as follows:

[0075] Step 1: Load three ground unmanned platform models in the USARSim virtual simulation scene. The drive form of the model is four-wheel independent differential, and the translational velocity and angular velocity are used as input for control.

[0076] Through the setting of the control terminal, specify UGV_0 as the leader, UGV_1 and UGV_2 as followers, set the formation information d1=15m, d2=15m, φ1=5π / 3, φ2=π / 3, and send it after setting Formation ta...

Embodiment 3

[0080] The motion responsiveness of individual mobile robots can be tested in isolation. The basic workflow is as follows:

[0081] Step 1: Construct the robot model in USARSim, including the solid model displayed in the scene, the class used for platform control (written in Unreal Script scripting language) and the sensor configuration scheme of the platform;

[0082] Step 2: The remote control instruction sending module sends the desired linear velocity v and angular velocity ω to the corresponding mobile robot controller, thereby controlling the movement of the mobile robot in the USARSim virtual scene;

[0083] Step 3: Evaluate the correctness and real-time performance of remote control instructions received by robot nodes during the task execution process.

[0084] In summary, the present invention relates to a heterogeneous mobile robot interoperability middleware testing system and method. The system includes a control terminal node, a number of mobile robot nodes with...

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Abstract

The invention relates to an interoperation middleware testing system and method for heterogeneous mobile robots. The system comprises a control terminal node, a plurality of mobile robot nodes with different architectures and a virtual scene presentation node, wherein the nodes communicate with one another through a network; the control terminal node and each mobile robot node are provided with interoperation middleware for interaction among internal processes; and the mobile robot nodes adopting RCS architectures and the mobile robot nodes adopting ROS architectures construct a control systemof the robots based on the two architectures respectively, and different numbers of the mobile robot nodes can be started according to task types. The interoperation middleware testing system for theheterogeneous mobile robots is provided for real use of the mobile robots, and the universal control capability and the interoperation capability of the middleware of the heterogeneous mobile robotscan be tested; and the system can be applied to function and performance testing of the interoperation middleware of the robots crossing various operation systems and different software architectures.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to an interoperable middleware testing system and method for heterogeneous mobile robots. Background technique [0002] Interoperability is the ability of two or more platforms to exchange information and mutually utilize the exchanged information. The research on the interoperability of mobile robots will provide guarantees for the development of unified control terminals, the realization of cross-domain (sea, land, and air) interoperability, and the fast and real-time seamless integration and access of platform task units. The development of all robots in the future is of great significance. [0003] Due to the different control protocols, network transmission protocols, and control port definitions between mobile robot platforms, there are problems such as inconsistent capability descriptions, inconsistent interface standards, and non-universal control methods between sens...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/16B25J9/1689B25J19/0095
Inventor 杨甜甜苏治宝
Owner 中国兵器科学研究院
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