基于ZMQ通信架构的巡检机器人离网控制系统

Off Network Control System of Inspection Robot Based on ZMQ Communication Architecture

目前工业场景巡检机器人的控制系统大都基于ROS框架。虽然该框架具有很大的开发便利性,但其在运行过程中还是有很大的局限性:通信中断无法重连、低可用性、平台环境强依赖、网络要求高等。提出一种基于ZMQ通信机制的分布式机器人控制系统,通信组件使用ZMQ网络库,并运用分布式思想构建多个机器人业务系统的节点,达到高可用的机器人控制系统。实验结果表明:相比于ROS系统方式,基于ZMQ通信的分布式架构的脱机控制系统具有稳定可靠、网络可重连机制、基本无第三方库依赖等优点,解决了开发、部署使用过程中的问题,可以有效提高巡检机器人的可靠性与稳定性。

At present,the control systems of industrial scene inspection robots are mostly based on ROS framework.Although the framework has great development convenience,it still has great limitations in the process of operation:communication interruption can-not be reconnected,low availability,strong dependence on platform environment,high network requirements.A distributed robot con-trol system based on ZMQ communication mechanism was proposed.The communication components were from ZMQ network library,and the distributed idea was used to build multiple nodes of the robot business system to achieve a highly available robot control system.The experimental results show that compared with the ROS system,the offline control system based on the distributed architecture of ZMQ communication has the advantages of stability and reliability,network reconnection mechanism,and basically no third-party li-brary dependencies,problems during development,deployment and use are solved.The reliability and stability of the patrol robot can be effectively improved.