CN106182027A - A kind of open service robot system - Google Patents
A kind of open service robot system Download PDFInfo
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- CN106182027A CN106182027A CN201610623037.9A CN201610623037A CN106182027A CN 106182027 A CN106182027 A CN 106182027A CN 201610623037 A CN201610623037 A CN 201610623037A CN 106182027 A CN106182027 A CN 106182027A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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Abstract
The present invention relates to a kind of open service robot system, including extendible human-computer interaction terminal, extendible intelligent robot system and function device；Extendible human-computer interaction terminal is used for receiving user input data, sends service request bag to extendible intelligent robot system wireless, and receives the task action result of extendible intelligent robot system feedback；Service request Packet analyzing, for receiving the service request bag that extendible human-computer interaction terminal sends, is become corresponding function command collection by extendible intelligent robot system, sends task control instruction, and the execution result that receive capabilities equipment returns to function device；The task control instruction that function device sends for receiving extendible intelligent robot system, and perform result to extendible intelligent robot system return instruction.System solves the problem Long Term Evolution and the increment of the problem that existing service robot system versatility is the strongest, beneficially product.
Description
Technical field
The present invention relates to intelligent robot technology field, particularly relate to a kind of open service robot system.
Background technology
Along with China's labor cost day by day increase, the aggravation of social senilization degree, service robot again goes into people
The visual field.
Current service robot product mainly for home services, commerce services, help the elderly and help the disabled and other special industry,
People are the highest to the expectation of its technology.But, from the point of view of the service robot lead-time, its key technology degree of being practical not,
Sensor die block cost is the highest, and these seriously constrain growing in strength of current service Robot industry.Although service robot
Become the focus that capital is chased in recent years, but the more investor and research and development institution are still in and look around and trial state.
Different from the consumer electronics product such as mobile phone, computer, existing service robot is difficult to form a set of unified rule
Model and platform, and in current existing service robot control system, the architecture of service robot all exists general
Deficiency in property, and this problem had influence on service robot technical research development, the most existing server
The rare interface expansible, scalable of device people's product, is unfavorable for Long Term Evolution and the increment of product.
Summary of the invention
The technical problem to be solved is to provide a kind of open service robot system, by extendible
Human-computer interaction terminal and extendible intelligent robot system increase extensive interface and supports system compatibility, it is ensured that service
Robot carries out Function Extension at original hardware platform；By introducing cloud computing technology, incorporate intelligent terminal's manufacturing industry, calculating
Machine hardware manufacturing, computer software service trade, Telecom Operators, the technological achievement of Internet service industry, beneficially main flow letter
Breath industry, to the technology of this product and resource support, becomes the novel economizer growth point in each industry.
The technical scheme is that a kind of open service robot system, including can
Human-computer interaction terminal, extendible intelligent robot system and the function device of extension；
Described extendible human-computer interaction terminal is used for receiving user input data, to described extendible intelligent robot system
Wireless transmission service request bag, and receive the task action result of described extendible intelligent robot system feedback；
Described extendible intelligent robot system is for receiving the service request that described extendible human-computer interaction terminal sends
Bag, becomes corresponding function command collection by described service request Packet analyzing, sends task control instruction to described function device, and connects
Receive the execution result that described function device returns；
The task control instruction that described function device sends for receiving described extendible intelligent robot system, and to described
Extendible intelligent robot system return instruction performs result.
The invention has the beneficial effects as follows: this system by extendible human-computer interaction terminal to extendible intelligent robot
System wireless sends service request bag, and service request Packet analyzing is become corresponding function command by extendible intelligent robot system
Collection, sends task control instruction to function device, and this system allows service robot flexible configuration, can be according to the difference of user
Demand selects corresponding function device, thus solves the problem that existing service robot system versatility is the strongest, is conducive to producing
The Long Term Evolution of product and increment, the rolling after the investor can not only be allowed to see capital input is appreciated and is expected, and allows user see
The function upgrading expection of product, more can allow the mainstream information industry see new profit growth point.
On the basis of technique scheme, the present invention can also do following improvement.
Further, described extendible human-computer interaction terminal include function application module, expansible AIM and
Task assignment module, described task assignment module receives described function application module respectively and expansible AIM sends
Function apply and form service request bag；Described function application module includes person recognition unit, map unit, voice
Dialog unit, guide unit, tour unit, assistant's unit, remote operating unit and amusement unit.
Using above-mentioned further scheme to provide the benefit that in extendible human-computer interaction terminal increases expansible application
Interface module supports system compatibility, it is ensured that service robot carries out Function Extension at original hardware platform.
Further, described extendible intelligent robot system include receive service request bag task Understanding Module and with
Local intelligent computation module that described task Understanding Module calls respectively and cloud computing assembly, and calculate with described local intelligent
The management kernel that assembly, cloud computing assembly and task Understanding Module call jointly, and the device drives mould of management kernel calls
Block；
Described task Understanding Module returns task action result, described local intelligent meter to described extendible human-computer interaction terminal
Calculating assembly and return local intelligent algorithm result of calculation to task Understanding Module, described cloud computing assembly returns to task Understanding Module
The result of calculation of cloud service platform, described management kernel returns perform result, institute to local intelligent computation module, cloud computing assembly
State device driver module and return described function device execution result to management kernel.
Further, described local intelligent computation module includes expansible local computing interface module and local computing module,
Described local computing module includes map constructing unit, driving trace planning unit, manipulator motion trajectory planning unit, machine
Visual unit and multi-machine collaborative unit；
Described cloud computing assembly includes sound identification module, face recognition module and expansible cloud computing interface module；
Described device driver module includes expansible standard device interface driver unit and local device driver element, described this locality
Device drives unit includes that chassis driving, mechanical arm driving, Position and attitude sensor driving, vision driving, audio driven, humiture are driven
Dynamic and radio communication drives.
Using above-mentioned further scheme to provide the benefit that in extendible intelligent robot system increases expansible
Ground calculates interface module and expansible cloud computing interface module supports system compatibility, it is ensured that service robot is in original soft or hard
The newly-increased intelligent algorithm calculated from local computing and high in the clouds of part platform；By introducing cloud computing technology, strengthening its intelligence
Keep linking with mainstream information industrial chain so that service robot is no longer a simple electronic product simultaneously, but one
Relate to intelligent terminal's manufacturing industry, computer hardware manufacturing, computer software service trade, Telecom Operators, Internet service
The comprehensive product of industry.
Further, described management kernel includes computer operating system, mechanism kinematic management module and device abstract module；
Described device abstract module is called for computer operating system and mechanism kinematic management module with unified interface form.
Use above-mentioned further scheme to provide the benefit that ripe and compatible good computer operating system is drawn
Enter robot core software system, the compatibility that ensure that robot function fundamentally and autgmentability, meanwhile, device abstract
The diversity that module shield underlying device drives, achieves upper layer software (applications) with unified access interface and separates with underlying device,
It is easy to upper layer software (applications) exploitation independently carry out with what function device was developed.
Further, described mechanism kinematic management module includes behavior safety control unit, real-time control unit.
Use above-mentioned further scheme to provide the benefit that for avoiding robot behavior security risk, send instruction before by
Behavior safety control unit carries out comparative evaluation to action target and the result of the action, forbids endangering personal safety and destroying around
The behavior of environment, meanwhile, adjusts other instruction priority of motion control instruction and control system by real-time control unit,
For ensureing controlling in real time and feedback of motion.
Further, described function device includes local device and expansible standard device interface, and described expansible standard sets
Standby interface uses serial ports RS232/485, USB interface, Ethernet interface and blue tooth interface；Described local device includes chassis control
Device, mechanical arm controller, Position and attitude sensor, vision sensor, mike loudspeaker, Temperature Humidity Sensor and wireless communication unit.
Use above-mentioned further scheme to provide the benefit that by integrated local device, enrich the behavioral competence of robot
With environment sensing ability, meanwhile, according to the user's different demands to performance, connect it by expansible standard device interface corresponding
Function device, it is achieved that robot flexible configuration, the investor can not only be allowed to see, and the rolling after capital input is appreciated expection, and
And allow user see the function upgrading expection of product, mainstream information industry more can be allowed to see new profit growth point.
Further, the described task control instruction sent to function device at least includes bobbin movement instruction, mechanical arm fortune
Dynamic instruction, Position and attitude sensor gather pose data command, vision sensor gathers video instructions, mike gathers audio instructions,
Temperature Humidity Sensor gathers humiture instruction, wireless communication unit sends the one in data command.
Above-mentioned further scheme is used to provide the benefit that the function device connected according to service robot sends accordingly
Control instruction.
Further, described to service extendible intelligent robot system return instruction perform result be at least chassis control
Device performs result, mechanical arm controller performs result, pose parameter, video, audio frequency, wireless communication unit send state or reception
Data in one.
The function device execution result of connection is fed back to service can expand to use above-mentioned further scheme to provide the benefit that
The intelligent robot system of exhibition.
Further, the one during described user input data is at least video data, voice data, touch signals.
Accompanying drawing explanation
Fig. 1 is present system schematic diagram；
Fig. 2 is extendible human-computer interaction terminal what's new applicating flow chart；
Fig. 3 is extendible human-computer interaction terminal task assignment module workflow diagram；
Fig. 4 is extendible intelligent robot system task Understanding Module workflow diagram；
Fig. 5 is that extendible intelligent robot system increases local intelligent computing module workflow diagram newly；
Fig. 6 is that extendible intelligent robot system increases cloud computing module workflow diagram newly；
Fig. 7 is the mechanism kinematic management module workflow diagram of extendible intelligent robot system；
Fig. 8 is extendible intelligent robot system newly added equipment flow chart.
Detailed description of the invention
Being described principle and the feature of the present invention below in conjunction with accompanying drawing, example is served only for explaining the present invention, and
Non-for limiting the scope of the present invention.
It is illustrated in figure 1 present system schematic diagram, can in order to solve that the most existing service robot product is rare
Extension, scalable interface, be unfavorable for the Long Term Evolution of product and value-added problem, the invention provides a kind of open service machine
Device people's system, this system is expansible by increasing in extendible human-computer interaction terminal and extendible intelligent robot system
Interface module supports system compatibility, it is ensured that service robot carries out Function Extension at original hardware platform；By introducing cloud
Computing technique, keeps linking with mainstream information industrial chain so that service robot is no longer one while strengthening its intelligence
Simple electronic product, but one relates to intelligent terminal's manufacturing industry, computer hardware manufacturing, computer software service
Industry, Telecom Operators, the comprehensive product of Internet service industry, it is allowed to service robot flexible configuration, can be according to user couple
The different demands of performance select the product of different cost configuration, and the rolling after the investor can not only be allowed to see capital input is appreciated pre-
Phase, and allow user see the function upgrading expection of product, mainstream information industry more can be allowed to see new profit growth point.
The open service robot that the present invention mentions includes that chassis, control chamber, mechanical arm, battery and some functions set
Standby；Control chamber is the control core of robot, is mounted with a built-in industrial control machine and battery, and industrial computer runs extendible
Intelligent robot system, battery provides power supply to other parts；Mechanical arm, chassis and other function device are connect by standard device
Mouth accesses built-in industrial control machine；User installs extendible human-computer interaction terminal on smart mobile phone or panel computer, can pass through
APP and robot carry out man-machine interaction, it is also possible to carry out man-machine interaction by voice mode with robot.
A kind of open service robot system of the present invention, including extendible human-computer interaction terminal, extendible machine
Device people's intelligence system and function device；Extendible human-computer interaction terminal is used for receiving user input data, to extendible
Intelligent robot system wireless sends service request bag, and receives the tasks carrying knot of extendible intelligent robot system feedback
Really, wherein, the one during user input data is at least video data, voice data, touch signals；Extendible robot intelligence
System can be used for receiving the service request bag that described extendible human-computer interaction terminal sends, service request Packet analyzing is become correspondence
Function command collection, to described function device send task control instruction, and receive capabilities equipment return execution result；Function
The task control instruction that equipment sends for receiving extendible intelligent robot system, and to extendible intelligent robot system
System return instruction performs result.
Extendible human-computer interaction terminal includes function application module, expansible AIM and task assignment mould
The function that block, task assignment module receive capabilities application module respectively and expansible AIM send is applied and forms clothes
Business requires bag, and wherein, function application module includes person recognition unit, map unit, voice dialogue unit, guides list
Unit, tour unit, assistant's unit, remote operating unit and amusement unit, its particular content is as follows:
1. person recognition unit, finds human target and follows this target and move, it is simple to interacting at any time with user, the end of according to
The sensor type installed on dish, can select vision sensor to carry out image detection, it is also possible to target is carried by selection
RFID label tag carries out radio-frequency signal detection, and selects other detection mode；
2. map unit, informs that local environment is detected by service robot, creates environmental map and records some passes
Key position point, according to the sensor type installed on chassis, can select vision sensor to carry out image detection, it is also possible to select
Laser radar carries out laser scanning, and selects other detection mode；
3. voice dialogue unit, to carry out man-machine answer, information mutual with user.This function can be embedded into extendible man-machine friendship
Terminal mutually, the voice pickup model utilizing smart mobile phone or panel computer to carry interacts, it is also possible to independent peace on chassis
Dress mike and loudspeaker, directly interacted with robot by user；
4. guide unit, recognizes user's request by man-machine interaction, guides user to certain destination.Install according on chassis
Sensor type, vision sensor can be selected to carry out destination's images match, it is also possible to select to destination's RFID label tag
Carry out radiofrequency signal coupling, it is also possible to select laser radar to carry out destination's characteristic matching, and select other matching way；
5. make an inspection tour unit, travel back and forth according to user's fixed route, and video along the line is passed to the extendible people of user
Machine interactive terminal.According to the sensor type installed on chassis, the information such as transmission environment humiture, air pressure, wind speed can be selected；
6. assistant's unit, completes, by the motion such as mechanical arm, chassis, a certain task that user specifies, such as praise weight,
Water takes thing etc..For configuring this function, need the aiding sensors such as vision, range finder is installed on the robotic arm；
7. remote operating unit, service robot can remotely be controlled by extendible human-computer interaction terminal, pass through by user
Video detecting real-time surrounding enviroment；
8. amusement unit, user can carry out game by extendible human-computer interaction terminal and service robot；
The most expansible AIM, with the form appointment function integrated approach of plug-in unit, in order to add what's new application, needs
Service robot chassis to be installed the equipment supporting this function, and in extendible intelligent robot system, this is installed and sets
Standby driver, is illustrated in figure 2 what's new applicating flow chart, and first expansible AIM inquires task assignment mould
Whether block extendible intelligent robot system is mounted with new equipment, if being mounted with new equipment, then and this what's new application Shen
Please be successful, otherwise, apply for unsuccessfully.
10. task assignment module, is illustrated in figure 3 task assignment module workflow, first with extendible robot intelligence
System can set up connection, form service request bag according to the function application that user selects in extendible human-computer interaction terminal, and
According to private communication protocol, this requirement is packaged into service request bag, is finally assigned to lower floor's extendible intelligent robot system
Task Understanding Module, and receive the execution result of this system feedback.
Extendible intelligent robot system is robot control core, together constitutes with the computer running this system
Robot brain.Extendible intelligent robot system includes radio communication unit, by wireless communication unit with extendible
Human-computer interaction terminal connects.For ease of obtaining underlying device driver, ensureing systemic-function compatibility and autgmentability, expansible
Intelligent robot systems soft ware be arranged in common computer operations system, such as linux system, Windows system.This is
System includes the local intelligent calculating group that the task Understanding Module accepting service request bag and described task Understanding Module call respectively
Part and cloud computing assembly, and the pipe that described local intelligent computation module, cloud computing assembly and task Understanding Module call jointly
Reason kernel, and the device driver module of management kernel calls, described task Understanding Module is to extendible human-computer interaction terminal
Returning task action result, described local intelligent computation module returns local intelligent algorithm result of calculation to task Understanding Module,
Described cloud computing assembly returns the result of calculation of cloud service platform to task Understanding Module, and described management kernel is to local intelligent meter
Calculate assembly, cloud computing assembly returns bottom software and hardware and performs result, and described device driver module returns bottom merit to management kernel
Can equipment running status.Wherein, the task control instruction at least bobbin movement sent to function device instructs, manipulator motion
Instruction, Position and attitude sensor gather pose data command, vision sensor gathers video instructions, mike gathers audio instructions, temperature
Humidity sensor gathers humiture instruction, wireless communication unit sends the one in data command；To extendible robot intelligence
Can system return instruction perform result be at least chassis controller perform result, mechanical arm controller perform result, pose parameter,
Video, audio frequency, wireless communication unit send state or the data of reception.
It is as follows that it services extendible intelligent robot system particular content:
1) task Understanding Module, if Fig. 4 is task Understanding Module workflow, first sets up with extendible human-computer interaction terminal
Connecting, the service request Packet analyzing that extendible human-computer interaction terminal is assigned becomes function instruction set, then under these instruction set
Reach to local intelligent computation module, cloud computing assembly and management kernel, the most again task action result is fed back to task assignment
Module.
2) local computing assembly, it is adaptable to local computer resource processes, needs the intelligent algorithm of quickly response, including this
Ground calculates interface module, and wherein local computing interface module includes that map constructing unit, driving trace planning unit, mechanical arm are transported
Dynamic trajectory planning unit, machine vision unit and multi-machine collaborative unit；It addition, the most expansible local computing interface module, just
In increasing other intelligence computation method, wherein,
The most expansible local computing interface module, arranges, with the form of function command collection, the access method that local intelligent calculates, for
Newly-increased local intelligent computational methods, need to be packaged into function command collection access for task Understanding Module, such as Fig. 5 realizing code
It show the flow process of newly-increased local intelligent computing module, need Access Management Access kernel, if local system resource supports this application,
Then apply for successfully, otherwise, applying for unsuccessfully.
2. map constructing unit, the environmental characteristic utilizing sensor to detect creates map, provides for follow-up autonomous traveling and depends on
According to.Implement and can use the classic algorithm such as SLAM, support the map unit of extendible human-computer interaction terminal, guide list
Unit, the tour function such as unit, assistant's unit application；
3. driving trace planning unit, utilizes the posture information of map and sensor detection to arrange global and local driving path,
And avoiding obstacles under steam.Implement the dynamic window method of the A* algorithm of global path planning, local paths planning
(DWA) etc., support the guide unit of extendible human-computer interaction terminal, make an inspection tour the application of the function such as unit, assistant's unit；
4. manipulator motion trajectory planning unit, the mechanical arm each unit attitude utilizing sensor to detect arranges movement locus, and
Avoiding obstacles in movement.Implement the classic algorithm such as probability road sign method (PRM), Quick Extended random tree method (RRT)
Deng, support the function application such as the tour unit of extendible human-computer interaction terminal, assistant's unit；
5. machine vision unit, utilizes the image information of vision sensor collection to complete target recognition etc..Implement image
Feature extraction algorithm, image matching algorithm, support the guide unit of extendible human-computer interaction terminal, make an inspection tour unit, Zhu Shoudan
The function application such as unit；
6. multi-machine collaborative unit, calculates multirobot collaborative work strategy, and the Wireless Telecom Equipment utilizing robot to carry is set up
Self-organizing network, understands respective orientation and task by interactive information.Implement and can use the classical routing algorithms such as AODV,
Support the function application such as the tour unit of extendible human-computer interaction terminal, assistant's unit；
3) cloud computing assembly, it is adaptable to long-distance cloud calculates the intelligent algorithm that resource processes, including: sound identification module, face are known
Other module, it addition, the most expansible cloud computing interface module, it is simple to increase other cloud computing method, wherein,
The most expansible cloud computing interface module, arranges the access method of cloud computing, for newly-increased cloud meter with the form of function command collection
Calculation method, need realize code be packaged into function command collection for task Understanding Module access, be illustrated in figure 6 newly-increased cloud meter
The flow process of calculation method, needs Access Management Access kernel, if cloud service platform supports this application, then applies for successfully, and otherwise, application is lost
Lose.
2. sound identification module, is converted into the intelligible semanteme of robot by the voice signal of collection, may utilize and compares into
Ripe cloud computing platform improves the accuracy and environment fitness identified, supports the voice dialogue of extendible human-computer interaction terminal
The function application such as unit, assistant's unit.
3. face recognition module, is mapped the facial image feature of collection with concrete personage, available comparative maturity
Cloud computing platform improve identify accuracy and environment fitness, support extendible human-computer interaction terminal guide unit,
The function application such as assistant's unit.
4) management kernel, is managed robot software and hardware resources, shields bottom hardware difference, including: computer is grasped
Make system, mechanism kinematic manages module and device abstract module, wherein,
1. computer operating system, is management kernel optimized integration, and its reliability, stability, standard and compatibility are service
The reliability services of robot, hardware compatibility, long expansion provide the foundation.Concrete optional Linux, Windows etc..
2. mechanism kinematic management module, the chassis of service robot and mechanical arm are the special installations possessing motor function,
Traditional computer operating system is managed by conventional equipment, lacks safety and real-time constraint, and mechanism kinematic management is right
It is analyzed before this kind of special installation execution action, and carries out action restriction according to analysis result.
As it is shown in fig. 7, for avoiding service robot behavior safety risk, controlled single before sending instruction by behavior safety
Unit carries out comparative evaluation to action target and the result of the action, forbids endangering personal safety and destroying the behavior of surrounding, if
Assessment result is safety, then adjust other instruction of motion control instruction and system by behavior real-time control unit preferential
Level, to ensure performing in real time and feedback of motion, if assessment result is dangerous, then forbids this instruction.
3. device abstract module, device abstract module shield bottom hardware equipment difference, for computer operating system and machine
Structure Sport Administration module provides unified equipment access interface.
5) device driver module, device driver module is the bottom hardware equipment access scheme of differentiation, in a software form
It is embedded in computer operating system, realizes providing signal or the input output method of data, bag for the various service function in upper strata
Including expansible standard device interface driver unit and local device driver element, described local device driver element includes that chassis is driven
Dynamic, mechanical arm drivings, Position and attitude sensor drivings, vision driving, audio driven, humiture driving and radio communication driving.
After device Drivers structure design driven according to computer operating system agreement, new function can be increased and set
Standby, Fig. 8 is that newly added equipment drives flow process, system registry new equipment, and whether inquiry new equipment is installed, if new equipment is installed,
Being then new equipment distributing system resource, new equipment succeeds in registration；If new equipment is not installed, then new equipment registration failure.
Function device includes local function equipment and expansible standard device interface, and wherein, local function equipment includes
Chassis controller, mechanical arm controller, Position and attitude sensor, vision sensor, mike loudspeaker, Temperature Humidity Sensor and channel radio
Letter unit, task control instruction return instruction that the extendible intelligent robot system of function device reception sends perform knot
Really.Wherein, expansible standard device interface uses common serial ports RS232/485, USB interface, Ethernet interface, bluetooth to connect
Mouthful, under common computer operating system, keep system compatibility.
The present invention sends service by extendible human-computer interaction terminal to extendible intelligent robot system wireless and wants
Seeking bag, extendible intelligent robot system controls function device according to service request bag transfer control instruction and performs task, should
System allows service robot flexible configuration, can select corresponding function device according to the different demands of user, thus solve
The Long Term Evolution of the problem that existing service robot system versatility is the strongest, beneficially product and increment, can not only allow investment
Business sees that the rolling after capital input is appreciated expection, and allows user see the function upgrading expection of product, more can allow main flow
Information industry sees new profit growth point.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and
Within principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (10)
1. an open service robot system, it is characterised in that include extendible human-computer interaction terminal, extendible machine
Device people's intelligence system and function device；
Described extendible human-computer interaction terminal is used for receiving user input data, to described extendible intelligent robot system
Wireless transmission service request bag, and receive the task action result of described extendible intelligent robot system feedback；
Described extendible intelligent robot system is for receiving the service request that described extendible human-computer interaction terminal sends
Bag, becomes corresponding function command collection by described service request Packet analyzing, sends task control instruction to described function device, and connects
Receive the execution result that described function device returns；
The task control instruction that described function device sends for receiving described extendible intelligent robot system, and to described
Extendible intelligent robot system return instruction performs result.
Open service robot system the most according to claim 1, it is characterised in that described extendible man-machine interaction
Terminal includes function application module, expansible AIM and task assignment module；
Described task assignment module receives the function of described function application module and the transmission of expansible AIM respectively should
With and form service request bag；
Described function application module includes person recognition unit, map unit, voice dialogue unit, guide unit, tour
Unit, assistant's unit, remote operating unit and amusement unit.
Open service robot system the most according to claim 1, it is characterised in that described extendible robot intelligence
System can include the task Understanding Module receiving service request bag and the local intelligent called respectively with described task Understanding Module
Computation module and cloud computing assembly, and common with described local intelligent computation module, cloud computing assembly and task Understanding Module
The management kernel called, and the device driver module of management kernel calls；
Described task Understanding Module returns task action result, described local intelligent meter to described extendible human-computer interaction terminal
Calculating assembly and return local intelligent algorithm result of calculation to task Understanding Module, described cloud computing assembly returns to task Understanding Module
The result of calculation of cloud service platform, described management kernel returns perform result, institute to local intelligent computation module, cloud computing assembly
State device driver module and return described function device execution result to management kernel.
Open service robot system the most according to claim 3, it is characterised in that described local intelligent computation module
Including expansible local computing interface module and local computing module, described local computing module includes map constructing unit, OK
Sail trajectory planning unit, manipulator motion trajectory planning unit, machine vision unit and multi-machine collaborative unit；
Described cloud computing assembly includes sound identification module, face recognition module and expansible cloud computing interface module；
Described device driver module includes expansible standard device interface driver unit and local device driver element, described this locality
Device drives unit includes that chassis driving, mechanical arm driving, Position and attitude sensor driving, vision driving, audio driven, humiture are driven
Dynamic and radio communication drives.
Open service robot system the most according to claim 3, it is characterised in that described management kernel includes calculating
Machine operating system, mechanism kinematic management module and device abstract module；Described device abstract module is in terms of unified interface form supplies
Calculation machine operating system and mechanism kinematic management module are called.
Open service robot system the most according to claim 5, it is characterised in that described mechanism kinematic management module
Including behavior safety control unit, real-time control unit.
Open service robot system the most according to claim 1, it is characterised in that described function device includes this locality
Equipment and expansible standard device interface, described expansible standard device interface uses serial ports RS232/485, USB interface, ether
Network interface and blue tooth interface；Described local device includes chassis controller, mechanical arm controller, Position and attitude sensor, visual sensing
Device, mike loudspeaker, Temperature Humidity Sensor and wireless communication unit.
Open service robot system the most according to claim 1, it is characterised in that described send to function device
Task control instruction at least includes that bobbin movement instruction, manipulator motion instruction, Position and attitude sensor gather pose data command, regard
Sense sensor gathers video instructions, mike gathers audio instructions, Temperature Humidity Sensor gathers humiture instruction, radio communication list
Unit sends the one in data command.
Open service robot system the most according to claim 1, it is characterised in that described to extendible robot
Intelligence system return instruction performs result and is at least chassis controller execution result, mechanical arm controller execution result, pose ginseng
Number, video, audio frequency, wireless communication unit send the one in the data of state or reception.
Open service robot system the most according to claim 1, described user input data is at least video counts
According to, one in voice data, touch signals.
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106656706A (en) * | 2017-02-25 | 2017-05-10 | 华南理工大学 | Service-oriented robot open-type control system and method based on software bus |
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