Design On Cloud Robotics System And Realization Of The Key Function

With the rapid development of the cloud computing technology,the computing ability of the computer is increasing.Distributed computer systems are increasingly applied to all ways of life.The observation results show that the growth rate of the algorithm is much faster than that of the processor.As a result,the development of high-performance service hardware products become increasingly difficult.Robot as a high-performance service hardware products,also trapped in the hardware constraints.And with continuous expansion way to access the resources in the cloud and the focus of this paper concentrated in individual robot computation offloading aspects,by wheeled robot based,based on the distributed structure,the cloud computing technology is applied to the robot,making the research robot have better computing ability.Firstly,based on the cloud robot's service architecture and distributed system technology,this paper proposes a distributed control system based on distributed control system for the cloud robot system.The scheme used Hadoop cloud computing technology,wireless communication technology,Ethernet communication bus technology and navigation technology,image acquisition technology to solve the problem that robot structure is too complex and meet the demand on the robot for the sharing of resources.Secondly,this paper put forward the technological scheme of cloud robot for using object oriented timed double Petri net(OO-TDPN)theory to establish the system model of distributed cloud robot.And based on this model,the distributed cooperative control technology is introduced,and each unit of the robot is abstracted as a class.The hierarchical sub network model of cloud robot is introduced.Thirdly,based on the cloud robot system,the software and hardware system of the cloud robot is completed.The hardware system of the cloud robot is completed by the circuit design.At the same time,through the neural network,Kalman filtering,dead reckoning and PID control algorithm on the cloud platform realized map matching,path planning,instruction transmission and other functions,and realized the localization and obstacle avoidance in robot.At last,the model and the technical scheme are verified.