Research On ROS-based Robot Cloud Service Platform Architecture

With the continuous development of communication networks and large-scale storage,single robots face the problem of storage and computational pressure caused by acquiring a large amount of data when performing immediate tasks,which exceeds the limitation of onboard computing power.Based on cloud computing and big data,robots can offload intensive tasks to the cloud and acquire massive data resources.The robot cloud service platform is a software service platform that combines robot technology and Internet technology to provide users with professional services such as network-based robot access,monitoring,management,data analysis,and control optimization.With its distributed cluster architecture,it can provide efficient cloud services for a large number of heterogeneous robots;help to offload computing and improve the computing power of the control center,which can be considered as the external "brain" of the robot.The implementation and application of the robot cloud service platform is not sufficient in the typical cases at home and abroad,and the research work is still in its infancy.The existing robot cloud platform architecture is not uniform,resulting in a lot of repetitive technical research.Standardizing the architecture of the robot cloud platform,adapting to the needs of different types of robots,allows developers to focus on algorithms and help to improve the overall technical level of the robotics field.This paper proposes a framework based on ROS robot cloud service platform,which is divided into three levels: base layer,platform layer and service layer according to the functional level.The paper mainly completed the following:(1)A detailed analysis of the related research and existing architecture of the robot cloud platform in the field of cloud robot technology,an in-depth understanding of the current development trend of the robot cloud platform,and the current audience of the most widely used robot operating system.(2)According to the limitations of the existing robot cloud platform,a framework based on ROS robot cloud service platform is proposed,and the data integration model and data description specification of the interaction between the robot and the cloud platform are defined.(3)For the key technology of ROS robot cloud service platform architecture and robot cloud platform,a prototype system of robot cloud platform was designed and developed using OpenStack open source cloud platform management system and robot operation system(ROS).The navigation test verifies the feasibility of the ROS-based robot cloud service platform architecture proposed in this paper.(4)For the specific scenario of autopilot,the mobile robot autopilot cloud service module was deployed on the prototype system of the robot cloud platform and experimental verification was carried out to verify the support ability of the ROS robot cloud service platform for specific mission scenarios.The ROS-based robot cloud service platform architecture proposed in this paper can provide a reference for building robot cloud platform.The robot cloud platform can solve the problem that robot developers need to repeatedly build a development environment and deploy robot software services in the development process,so as to facilitate the development of robot programs.