Research And Implementation Of Network Communication Framework For Robot Application

In recent years,robot software,hardware technology and related subject knowledge have developed rapidly.The robot application has penetrated into the various fields of production life.The robot software needs to deal with more uncertain technological challenges,meet the increasingly complex and changeable task demands,and adapt to the more and more extensive working environment.Compared with ordinary application software,the robot software has strict requirements for real-time,security and robustness,which makes the design,development and maintenance of robot software much more difficult.The robot software framework integrating sensor and actuator control,concurrency support,abnormal detection and response and communication function makes software code more modular.This provides a unified software development model and specification for developers,improves software quality and development efficiency,and has been extensively studied in academia and the corporate world in recent years.The research work of this paper is mainly based on the BAOS robot system developed independently by South China University of Technology.The BAOS robot system supports publishing subscription nodes similar to ROS,supporting small grained combinatorial behavior nodes and kernel state real-time nodes.This provides a complete robot framework from the underlying platform to the upper layer.The contribution of this paper is mainly manifested in the following three aspects:1.This paper presents a network communication framework based on multi-process management model and asynchronous IO processing mechanism.This paper studies more rational and efficient process management,process communication methods and network event processing mechanism.Then this paper introduces the serialization/deserialization mechanism of fast encapsulation and forwarding,real-time monitoring and better recovery mechanism of operation state,dynamic protocol extension mechanism,etc.In the meantime,it provides a simple and easy-to-use interface for developers to write user logic.It has the characteristics of simple and easy to use,easy function and protocol extension,high concurrency processing,stable operation,etc.It can help to solve the problems of BAOS node task processing,especially batch task capability,operation condition monitoring and recovery,limited support protocol,etc.It helps developers free from the development of dull repetitive work and underlying logic,and quickly write and maintain robot application.2.Based on the framework of this paper,a technical plan for communication middleware is proposed.This paper studies NAT cross-LAN penetration technology suitable for the actual needs of robot communication.Then it introduces the publication subscription communication model.Master node with efficient message matching and communication node management capability is designed as the publishing subscription model agent,which provides a solution for multi-node communication and cross-LAN communication problems and extends the communication function of BAOS.3.Design functional experiment and application test.In this paper,the research and implementation of the network communication framework and the communication middleware based on its design are carried out and applied to the remote control of the robot object sorting system and the prototype system of the Raspberry medical service robot.The experimental results show the effectiveness and practicability of the design.