Design Of Remote Monitoring System For Forest Inspection Robot Based On Cloud Platform

With the construction of ecological civilization and the requirements of forestry informatization,the forest inspection robot facing the special needs of forestry came into being.The inspection robot has gradually changed the inspection mode of forest,overcome the problem of manual inspection under bad conditions,and provide a strong guarantee for the modernization and intelligence of forest resource management.In the process of forest inspection,the robot has a large working range and works out of the sight of the operator in most cases.The problem of data transmission between the operator and the robot becomes particularly prominent in this application background.The remote monitoring system of robot is an effective means to deal with the above problems.It can realize the two-way transmission of data in a large range and meet the application requirements of practical work.The remote monitoring system combined with the rising cloud platform technology in recent years will greatly improve the working ability of forest inspection robot,which is of great significance to the development of intelligent forestry.Therefore,taking the forest inspection robot developed based on ROS as the research object,this paper carries out the analysis and design of the robot remote monitoring system based on cloud platform.The main research contents are as follows:Firstly,the functional requirements of the remote monitoring system of forest inspection robot are analyzed,and the overall architecture of the system is preset.By comparing the applicability of various related technologies against the research background,it is finally determined that the overall system is developed based on B/S mode.The whole system consists of data communication subsystem and background management subsystem.The data communication subsystem adopts Web Socket protocol to realize full duplex communication;The background management subsystem is developed by separating the front and rear ends,with clear structure and easy to upgrade and maintain.Secondly,the specific implementation methods of data communication subsystem and background management subsystem are studied.The data communication subsystem includes three parts: robot terminal,robot local control terminal and data transfer server.The data interaction between different modules and the data transmission in a single module are deeply studied and the implementation method is designed;The communication between ROS system and non ROS system is realized at the robot end,and the data transmission between multithreads is designed at the local control end;The research improves the performance of data transfer between the cloud server and the local data transfer platform.Thirdly,the structure of the background management subsystem is analyzed,including function presentation layer,business processing layer,data processing layer and data storage layer.On this basis,the database design,data processing and data security are studied.Through the back-end service built by Flask,the functions of object mapping,login verification and routing interface are realized;The front-end application based on Vue is developed,the data interaction with the robot is realized,and the functions of data management and state visualization of remote control are improved.Finally,a confirmatory physical experiment is carried out on the designed remote monitoring system.Experiments show that through the remote control system designed in this paper,the robot can receive and respond to the control instructions issued by the user.The user can read and monitor the expected state information such as robot joint motor through the visual interface,save the key data on the real-time curve,and manage the saved data online.The experimental results show that the remote monitoring system designed by this research institute meets the design requirements and has usability and ease of use.