CN108145714A - A kind of dcs for servicing humanoid robot - Google Patents
A kind of dcs for servicing humanoid robot Download PDFInfo
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- CN108145714A CN108145714A CN201810014623.2A CN201810014623A CN108145714A CN 108145714 A CN108145714 A CN 108145714A CN 201810014623 A CN201810014623 A CN 201810014623A CN 108145714 A CN108145714 A CN 108145714A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- B25J11/008—Manipulators for service tasks
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Abstract
The present invention provides it is a kind of service humanoid robot dcs, including：Host computer subsystem, for the agency service for providing the software function of service humanoid robot, the external service content and the cloud service group for servicing humanoid robot being presented；Slave computer subsystem by CAN bus and the host computer subsystem communication, for receiving the behavior command that the host computer subsystem issues, controls the service humanoid robot to perform corresponding action；And by the implementing result of the action and it is described service humanoid robot each node state, feed back to the host computer subsystem；Cloud service group, by wireless with the host computer subsystem communication, the various service clouds that the remote maintenance of the service humanoid robot is provided and is provided by third party enterprise.The present invention is integrated and merges various intelligent basis applications, using distributed AC servo system, favorable expandability, modularization, easy care.
Description
Technical field
The present invention relates to robot field, espespecially a kind of dcs for servicing humanoid robot.
Background technology
Very big change had occurred in artificial intelligence basic algorithm in recent years, it allows many intelligent uses to substantially meet the life of people
Demand living.Network bandwidth speed-raising simultaneously and processor operational capability improve so that many complex calculations are transferred to high in the clouds.Therewith very
More base applications flourish, such as voice recognition, figure identification and natural language processing.Develop by feat of these base applications,
Service type intelligent robot degree has obtained large increase.How also challenge simultaneously to the software control system of robot
More flexible, the angle for easily extending maintenance of becoming reconciled carrys out design software control system.There are system unification for software control system at present
And the shortcomings that centralization.
Invention content
The object of the present invention is to provide a kind of dcs for servicing humanoid robot, integrate and merge various intelligence
Base application, using distributed AC servo system, favorable expandability, modularization, easy care.
Technical solution provided by the invention is as follows：
A kind of dcs for servicing humanoid robot, including host computer subsystem, slave computer subsystem and high in the clouds
Bundle of services；The host computer subsystem, for providing the software function of service humanoid robot, the service humanoid robot being presented
External service content and the agency service of the cloud service group；The slave computer subsystem, by CAN bus with it is described
Host computer subsystem communication for receiving the behavior command that the host computer subsystem issues, controls the service humanoid robot
Perform corresponding action；And by the implementing result of the action and it is described service humanoid robot each node state,
Feed back to the host computer subsystem；The cloud service group by the wireless and host computer subsystem communication, provides described
The various service clouds for servicing the remote maintenance of humanoid robot and being provided by third party enterprise.
In the above-mentioned technical solutions, host computer subsystem is equivalent to the brain of service humanoid robot, integrates and has merged and is each
Kind intelligent basis application；Slave computer subsystem is equivalent to the trunk and four limbs of service humanoid robot, and cooperation host computer subsystem is complete
Into the execution of various actions；When the ability of application that client's scene demand is integrated beyond service humanoid robot, service type machine
Device people can also seek help to cloud service group；This programme employs distributed AC servo system, and modular hardware connection structure easily expands
Exhibition, easy care.
Further, if the host computer subsystem includes the main application in interface, the application of dry interface, module layer, core layer, prison
Control layer and behavior scheduler；The module layer includes：Voice module, peripheral module, action module and scene module；The core
Central layer includes：Voice service, knowledge services, peripheral hardware service, face agency service, navigation proxy service, configuration database, knowledge
Library, safeguard service, recognition of face service, navigation Service；The slave computer subsystem includes several MCU, motor and driving group；Institute
It states cloud service group and includes maintenance centre and service cloud；The maintenance centre includes：Maintenance program and knowledge base mirror image；The clothes
Business cloud includes：Scene cloud chats cloud, location-based service cloud, amusement cloud, speech recognition cloud and banking private cloud.
In the above-mentioned technical solutions, the structure of host computer subsystem, slave computer subsystem and cloud service group has been refined.
Further, the customer input information from main interface is collected in the main application in the interface, obtains client's scene demand；When
When client's scene demand needs voice prompt, the main application in interface is forwarded to voice service by the voice module,
Corresponding voice broadcast function is provided by the voice service；When client's scene demand needs peripheral hardware to service, the boundary
The main application in face sends corresponding peripheral hardware service request by the peripheral module to the peripheral hardware service；When client's scene
When demand needs behavior service, the main application in interface is corresponding to the behavior scheduler dispatches by the action module
Behavior service is asked；When client's scene demand needs cloud service, the main application in interface by the scene module, to
The corresponding cloud service request of the cloud service pocket transmission；When client's scene demand needs navigation Service, the interface
Main application is asked by the action module to the corresponding navigation Service of the behavior scheduler dispatches.
In the above-mentioned technical solutions, processing of the client from the demand of the main application input in interface is provided.
Further, it further includes：When client's scene demand is the application processing of interface, pass through the main application in the interface
Arouse the corresponding interface application, client's scene demand is further processed by the interface application；As the visitor
When family scene demand needs voice prompt, interface is applied is forwarded to voice service by the voice module, by described
Voice service provides corresponding voice broadcast function；When client's scene demand needs peripheral hardware to service, interface should
With by the peripheral module, corresponding peripheral hardware service request is sent to the peripheral hardware service；When client's scene demand needs
When wanting behavior service, interface is applied through the action module, is taken to the corresponding behavior of the behavior scheduler dispatches
Business request；When client's scene demand needs cloud service, interface is applied through the scene module, to the cloud
The corresponding cloud service request of end service pocket transmission；When client's scene demand needs navigation Service, the interface application
By the action module, asked to the corresponding navigation Service of the behavior scheduler dispatches；When interface application is completed
During client's scene demand, the interface application terminates to service, and returns to the main application in the interface.
In the above-mentioned technical solutions, processing of the client from the demand of interface application input is provided.
Further, when listening to sound, the voice service is to collected audio signal to the speech recognition cloud
Speech recognition is asked, obtains identification text；The voice service asks to service to the identification text to the knowledge services, obtains
To relevant knowledge；According to the identification text and the relevant knowledge, the voice service, which obtains client's scene, to be needed
It asks；Client's scene demand, is forwarded by the voice service, is applied by the main application in the interface or interface in screen
Upper display；When client's scene demand needs voice prompt, the voice service provides corresponding voice broadcast function；When
When client's scene demand needs the peripheral hardware to service, by the forwarding of the voice service, the main application in the interface or interface
Using by the peripheral module, corresponding peripheral hardware service request is sent to the peripheral hardware service；When client's scene demand
When needing behavior service, the voice service is asked to the corresponding behavior service of the behavior scheduler dispatches；As the client
When scene demand needs cloud service, by the forwarding of the voice service, the main application in the interface or interface sub- application pass through institute
Scene module is stated, is asked to the corresponding cloud service of the cloud service pocket transmission；When client's scene demand needs the clothes that navigate
During business, the voice service is asked to the corresponding navigation Service of the behavior scheduler dispatches.
In the above-mentioned technical solutions, the processing for the demand that client passes through phonetic entry is provided.
Further, when detecting face information, the recognition of face service carries out recognition of face, obtains face characteristic letter
Breath；The recognition of face service judges whether the face characteristic information matches with the face characteristic information of database；When with institute
When stating the face characteristic information matching of database, the recognition of face service obtains customer information, hair from the database
To the face agency service；When need to show on the screen say hello information when, pass through the forwarding of the face agency service, institute
It states the main application in interface or application in interface shows the customer information on the screen and information of saying hello；When needing to pass through voice broadcast
During information of saying hello, by the forwarding of the face agency service, the customer information and information of saying hello are reported in the voice service.
In the above-mentioned technical solutions, a kind of method that customer information is obtained by recognition of face is provided.
Further, when receiving the behavior service request, the behavior scheduler is according to the service humanoid robot
Current state, judges whether the behavior service request is allowed to；Under behavior service request is allowed to, and needs are described
During the loom system execution action of position, the behavior scheduler carries out movement decomposition, and corresponding action request is sent to each MCU.
In the above-mentioned technical solutions, the processing of perfect behavior service request has ensured that the behavior of service humanoid robot is real
It applies.
Further, when receive cloud service request when, the cloud service group to the interface it is main application or interface sub- application
Feedback response information；When the response message needs speech play, pass through the main application in the interface or the application forwarding of interface
To the voice service, the voice broadcast function of the response message is provided by the voice service.
In the above-mentioned technical solutions, the processing of perfect cloud service request has ensured that the cloud service of service humanoid robot is real
It applies.
Further, when receiving the navigation Service request, navigation instruction is handed down to described lead by the behavior scheduler
Boat service；The navigation Service output speed information gives the slave computer subsystem, with the movement of guidance machine people；When the clothes
When business humanoid robot encounters barrier in navigation procedure, report navigation abnormal to the navigation proxy service；When the service
When humanoid robot reaches appointed place, report and navigated successfully to the navigation proxy service；When navigational state needs display, institute
It states navigation proxy service and the navigational state is shown by the main application in the interface or the application of interface on the screen；When navigation shape
When state needs to play, the navigation proxy service reports the navigational state by the voice service.
In the above-mentioned technical solutions, the processing of perfect navigation Service request has ensured the navigation clothes of service humanoid robot
It is pragmatic to apply.
Further, maintenance centre's periodic modification and the knowledge base mirror image is updated, and to the host computer subsystem
Push, to update the knowledge base.
In the above-mentioned technical solutions, by the continuous renewal of knowledge base, make service humanoid robot more intelligence and increasingly acute hearing
It is bright.
By a kind of dcs for servicing humanoid robot provided by the invention, following at least one can be brought
Advantageous effect：
1st, the present invention is integrated and merges various intelligent basis applications, using distributed AC servo system, favorable expandability, modularization, easily
It safeguards.
2nd, the present invention can automatically update knowledge base, make service humanoid robot more intelligent and increasingly clever.
Description of the drawings
Below by a manner of clearly understandable, preferred embodiment is described with reference to the drawings, to a kind of humanoid robot that services
Above-mentioned characteristic, technical characteristic, advantage and its realization method of dcs are further described.
Fig. 1 is a kind of structural representation of one embodiment of the dcs of service humanoid robot of the present invention
Figure；
Fig. 2 is another reality that humanoid robot is serviced in a kind of dcs of service humanoid robot of the present invention
Apply the structure diagram of example；
Fig. 3 be the present invention a kind of service humanoid robot dcs in high in the clouds bundle of services another implementation
The structure diagram of example.
Drawing reference numeral explanation：
1000. service humanoid robots, 1100. host computer subsystems, the main application in 1110. interfaces, 1120. interface sub- applications,
1160. module layers, 1161. voice modules, 1162. peripheral modules, 1163. action modules, 1164. scene modules, 1130. cores
Layer, 1131. face agency services, 1132. peripheral hardware services, 1133. voice services, 1134. knowledge services, 1135. navigation proxies
Service, 1136. safeguard services, 1137. configuration databases, 1138. knowledge bases, 1139. recognition of face services, 1140. navigation clothes
Business, 1150. supervisory layers, 1170. behavior schedulers, 1200. slave computer subsystems, 1210.MCU, 1220. motors, 1230. drivings
Group, 2000. cloud service groups, 2100. service clouds, 2110. scene clouds, 2120. location-based service clouds, 2130. amusement clouds, 2140.
Cloud is chatted, 2150. banking private clouds, 2160. speech recognition clouds, 2200. maintenance centres, 2210. maintenance programs, 2220. know
Know library mirror image.
Specific embodiment
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, control is illustrated below
The specific embodiment of the present invention.It should be evident that the accompanying drawings in the following description is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically shown in each figure, they are not represented
Its practical structures as product.In addition, so that simplified form is easy to understand, there is identical structure or function in some figures
Component only symbolically depicts one of those or has only marked one of those.Herein, "one" is not only represented
" only this " can also represent the situation of " more than one ".
In one embodiment of the invention, embodiment 1, as shown in Figure 1, a kind of distributed AC servo system for servicing humanoid robot
System, including host computer subsystem 1100, slave computer subsystem 1200 and cloud service group 2000；
The host computer subsystem 1100, for providing the software function of service humanoid robot 1000, the service being presented
The external service content of humanoid robot 1000 and the agency service of the cloud service group 2000；
The slave computer subsystem 1200 is communicated by CAN bus with the host computer subsystem 1100, for receiving
The behavior command that host computer subsystem 1100 issues is stated, the service humanoid robot 1000 is controlled to perform corresponding action；And
By the implementing result of the action and the state of each node of the service humanoid robot 1000, the host computer is fed back to
Subsystem 1100；
The cloud service group 2000 is communicated with the host computer subsystem 1100 by wireless, provides the service type
The remote maintenance of robot 1000 and the various service clouds 2100 provided by third party enterprise.
Specifically, host computer subsystem is equivalent to the brain of service humanoid robot, various intelligent basis are integrated and merged
Using the application of application and third party's enterprise development including robot development quotient's exploitation provides the institute for servicing humanoid robot
The service content for having software function and externally presenting；Slave computer subsystem is equivalent to the trunk and four limbs of service humanoid robot,
Host computer subsystem is coordinated to complete the execution of various robot motions, and the implementing result of feedback action and each node of bottom
State；For example, being serviced described in host computer subsystem demands, humanoid robot is smiling to say hello to client, wherein smiling, speaking
Wait actions that slave computer subsystem is needed to complete；Slave computer subsystem is communicated with host computer subsystem by CAN bus.When client needs
When asking beyond the ability of application that service humanoid robot integrates, service humanoid robot can also seek help to cloud service group；On
Position loom system is by accessing wirelessly internet, with cloud service group communication.Cloud service group provides not only service type machine
The remote maintenance of people can also access the various services provided by third party enterprise that cannot be integrated on service humanoid robot
Cloud.
This programme employs distributed AC servo system, and modular construction provides the application for accessing third party's enterprise development or clothes
The interface of business cloud, easily extension, easy care.
In another embodiment of the present invention, embodiment 2, as shown in Figure 2 and Figure 3, a kind of distribution for servicing humanoid robot
Formula control system, including host computer subsystem 1100, slave computer subsystem 1200 and cloud service group 2000；
The host computer subsystem 1100, for providing the software function of service humanoid robot 1000, the service being presented
The external service content of humanoid robot 1000 and the agency service of the cloud service group 2000；
The slave computer subsystem 1200 is communicated by CAN bus with the host computer subsystem 1100, for receiving
The behavior command that host computer subsystem 1100 issues is stated, the service humanoid robot 1000 is controlled to perform corresponding action；And
By the implementing result of the action and the state of each node of the service humanoid robot 1000, the host computer is fed back to
Subsystem 1100；
The cloud service group 2000 is communicated with the host computer subsystem 1100 by wireless, provides the service type
The remote maintenance of robot 1000 and the various service clouds 2100 provided by third party enterprise；
The host computer subsystem 1100 includes the main application 1110 in interface, if dry interface applies 1120, module layer 1160,
Core layer 1130, supervisory layers 1150 and behavior scheduler 1170；The module layer 1160 includes：Voice module 1161, peripheral hardware mould
Block 1162, action module 1163 and scene module 1164；The core layer 1130 includes：Voice service 1133, knowledge services
1134th, peripheral hardware service 1132, face agency service 1131, navigation proxy service 1135, configuration database 1137, knowledge base
1138th, safeguard service 1136, recognition of face service 1139, navigation Service 1140；
The slave computer subsystem 1200 includes several MCU1210, several motors 1220 and driving group 1230；
The cloud service group 2000 includes maintenance centre 2200 and service cloud 2100；The maintenance centre 2200 includes：
Maintenance program 2210 and knowledge base mirror image 2220；The service cloud 2100 includes：Scene cloud 2110 chats cloud 2140, position clothes
Business cloud 2120, amusement cloud 2130, speech recognition cloud 2160 and banking private cloud 2150.
Specifically, relatively previous embodiment, the present embodiment is to host computer subsystem, slave computer subsystem and cloud service
Group is refined.
Host computer subsystem is patrolled using classical MVC (Model View Controller) software architecture with a kind of business
It collects, the method tissue code of data, interface display separation, service logic is gathered into an inside components, in improvement and individual character
While changing Custom Interface and user's interaction, do not need to rewrite service logic；Wherein, behavior scheduler belongs in MVC
Key-course (Controller), core layer are the model layers (model) in MVC, and the main application in interface and interface sub- application are in MVC
Model layer (view).Host computer subsystem is by three big mainstream operation systems (Windows, Android and (SuSE) Linux OS)
Composition, wherein, this three big operating system forms Ethernet LANs by router.Windows and/or Android operations
System principal's machine interacts, and undertakes and runs the basic intelligent use of various interactivity and the agency service of various base applications；
(SuSE) Linux OS is responsible for behavior coordination and scheduling, is integrated with a large amount of complicated algorithm.Linux system is responsible for simultaneously and bottom
Machine subsystem communication.
If the host computer subsystem include the main application in interface, the application of dry interface, core layer, module layer, supervisory layers and
Behavior scheduler.If the main application in the interface, dry interface sub- application, using Windows and/or Android operation system, are responsible for
The human-computer interaction of interface manner undertakes the base application for running various interactivity, for example, being adopted by the demand that interface manner inputs
Collection, showing interface.The main application in interface is provided by robot development quotient, and application in interface is generally provided by third party enterprise, is belonged to
The application of some industry, such as the VIP typing sub- applications of sub- application of transferring accounts, the recognition of face of banking, are integrated in host computer
Subsystem internal；The main application in interface and interface sub- application have respective interface, and give tacit consent to presentation is main interface, i.e. the main application in interface
Corresponding interface；The main application in interface generally operates in foreground, and only when interface, main application wakes up interface in application, being just switched to
Interface applies corresponding interface, at this point, the sub- application operation in interface, on foreground, the main application operation in interface is on backstage.When interface
After application operation, back to the main application in interface, the main application in interface operates in foreground again.Interface is applied and the main application in interface
Relationship has reacted the cooperative relationship between robot development quotient and third party enterprise.
Module layer further includes：Voice module, peripheral module, action module and scene module；The main application in interface and interface
Application share voice module, peripheral module, action module and scene module；The peripheral module, for for interface it is main application or
The sub- application proxy peripheral hardware service in interface；The action module, for for interface it is main application or the sub- application proxy behavior service in interface
And navigation Service；The voice module, for for interface it is main application or the sub- application proxy voice service in interface, for example, working as client
When scene demand needs to provide voice prompt, the main application in interface or interface apply the voice that core layer is accessed by voice module
Service, voice broadcast function is provided by voice service；The scene module, for for interface it is main application or the sub- application proxy in interface
Cloud service provides the interface for accessing the service cloud of cloud service group.
The core layer using Windows and/or Android operation system, is completed non-displaying class application, is provided various
Kernel service, including：Voice service, knowledge services, peripheral hardware service, face agency service, navigation proxy service, configuration data
Library, knowledge base, safeguard service, recognition of face service, navigation Service；Voice service provides speech recognition, semantic understanding, voice
The functions such as synthesis；The knowledge services for assisting completing semantic understanding function, understand including interactive command and business semantics are managed
Solution；In speech recognition, it may be necessary to which speech recognition cloud of seeking help assists the identification of voice；In semantic understanding, need to knowledge
Service provides relevant knowledge, such as the type of recognition result, it may be possible to which the order of operation service humanoid robot (as danced, is sung
Song, navigation), it is also possible to it chats, it is also possible to which banking etc., semantic understanding can determine down according to the return of knowledge services
One step acts；The peripheral hardware service, encapsulates the driving of hardware, for for the main application in interface, interface is applied and voice service
Consistency peripheral hardware service is provided, for example print service is handled afterwards as a result, fingerprint recognition result and identity card identification result etc.；It is described
Face agency service, for the scene of face recognition result adaptation and policy service；The navigation proxy service, is used for
To the scene adaptation and policy service of navigation results；The configuration database, for carrying out data configuration according to use occasion；Institute
Knowledge base is stated, for storing all kinds of knowledge, is inquired for knowledge services, also the interaction semantics data of acquisition and statistical machine people；Institute
Safeguard service is stated, for periodically sending acquisition and statistical result to the maintenance centre；The recognition of face service, using camera shooting
Head acquisition photo, for identifying face and extraction characteristic value, establishes face database；And recognition result is returned to the face
Agency service；The navigation Service, based on ROS (the Robot Operating System) system, for provide build figure and
Navigation feature.
The supervisory layers, using Windows or Android operation system, for monitoring and diagnosing answering for the application layer
With the operation conditions of the service with the core layer, the diagnostic tool and running log of the service humanoid robot are provided.
The behavior scheduler, using linux operating systems, for the behavior scheduling of the service humanoid robot；It is described
Behavior scheduler supports that the application of operation on it is changed or is configured, to be suitble to the customization of certain special services occasion；The row
It is service type robot behavior control and Consultation Center, each module operating status aggregation center and sensor states for scheduler
Aggregation center；And reception behavior features service request, according to the control of the state of robot and the behavior of coordinating robot；And together
When feed back the working condition of each module and the state of sensor；And pass through CAN bus and slave computer subsystem communication.
The slave computer subsystem includes：Several MCU (micro control unit, micro-control unit), several motors
And driving group；Several MCU for receiving the behavior command that the behavior scheduler issues, control the motor and described
Group is driven to perform corresponding action；And each joint of the implementing result of the action and the service humanoid robot is saved
The state of point, issues the host computer subsystem.
Between each communication main body of the host computer subsystem, using JSON (JavaScript Object Notation)
Format exchange data carry out service request and service response.
Communication agent ID examples, such as table 1：
| Communication agent ID | Communication agent name |
| 0x1 | Behavior scheduler |
| 0x2 | Voice service |
| 0x3 | The main application in interface |
| 0x4 | Interface sub- application |
| 0x5 | Knowledge services |
| 0x6 | Navigation proxy service |
| 0x7 | Peripheral hardware service |
| 0x8 | Face agency service |
Table 1
Task order ID and parameter protocol example：
| Task ID | Task name | Parameter |
| 0x56 | Navigation | Navigation spots |
| 0x57 | Sounding | Nothing |
| 0x58 | It dances | Nothing |
| 0x59 | It sings | Nothing |
The JSON packet examples that communication agent exchanges：
Navigation Service is asked and response：
{“from”:=0x2, " cmd ":0x56,”subcmd”：0x1}
{“from”:=0x1, " cmd ":0x56,”subcmd”：0x1,”resp”：0x1}
Speech trigger navigation behavior in human-computer interaction indicated above.Service humanoid robot receives navigation instruction；Behavior
Scheduler receives the navigation instruction, while issues navigation instruction to navigation system.
Dancing service request and response：
{“from”:=0x3, " cmd ":0x56,”subcmd”：0x1}
{“from”:=0x1, " cmd ":0x56,”subcmd”：0x1,”resp”：0x1}
Human-computer interaction median surface indicated above triggers dancing behavior.Service humanoid robot receives dancing instruction；Behavior
Scheduler receives dancing instruction, while issues dancing instruction to each MCU.
The service cloud includes maintenance centre, scene cloud, chats cloud, location-based service cloud, amusement cloud, speech recognition cloud and silver
The private cloud of industry business.The maintenance centre includes：Maintenance program and knowledge base mirror image.The maintenance program, for periodically receiving institute
Acquisition and the statistical result of safeguard service transmission are stated, for example, acquisition customer demand, classifies to customer demand, counts client
The problem of most topics asked, statistical knowledge service can not find answer, acquire daily record of each program exception etc.；It also provides big
Data analysis function and data mining capability, for example, analyzing, which bank product is more attractive, which VIP client oftenes focus on
A little problems, which non-VIP most probable become potential big customer etc., these analysis results are highly useful to bank, and analysis is tied
Fruit feeds back to the knowledge base.For regularly changing and updating, update is pushed to long-range robot for the knowledge base mirror image
Knowledge base afterwards.Maintenance centre improves knowledge services, then push can to machine everybody；Report the software issue and not of robot
The scene problem of consideration.
In another embodiment of the present invention, embodiment 3, as shown in Figure 2 and Figure 3, a kind of distribution for servicing humanoid robot
Formula control system in addition to identical with above-described embodiment 2, further includes：
The customer input information from main interface is collected in the main application in interface, obtains client's scene demand；
When client's scene demand needs voice prompt, the main application in interface is forwarded to by the voice module
Voice service provides corresponding voice broadcast function by the voice service；
When client's scene demand needs behavior service, the main application in interface is by the action module, to institute
State the corresponding behavior service request of behavior scheduler dispatches；
When receiving the behavior service request, the behavior scheduler is according to the current shape for servicing humanoid robot
State, judges whether the behavior service request is allowed to；
When behavior service request is allowed to, and needs the slave computer subsystem execution action, the behavior tune
It spends device and carries out movement decomposition, corresponding action request is sent to each MCU；
At the end of behavior service, the slave computer subsystem is to the behavior scheduler execution result back, the row
The main application in the interface is transmitted to for scheduler；
The main application in interface shows action implementing result on the screen；
Next client's scene demand from main interface is collected in the main application in interface；
When client's scene demand needs navigation Service, the main application in interface is by the action module, to institute
State the corresponding navigation Service request of behavior scheduler dispatches；
When receiving the navigation Service request, navigation instruction is handed down to the navigation Service by the behavior scheduler；
The navigation Service output speed information gives the slave computer subsystem, with the movement of guidance machine people；
When the service humanoid robot encounters barrier in navigation procedure, navigation is reported to the navigation proxy service
It is abnormal；
When the service humanoid robot reaches appointed place, report and navigated successfully to the navigation proxy service；
When navigational state needs display, the navigation proxy service shows institute on the screen by the main application in the interface
State navigational state；
When navigational state needs to play, the navigation proxy service reports the navigation shape by the voice service
State；
Next client's scene demand from main interface is collected in the main application in interface；
When client's scene demand needs peripheral hardware to service, the main application in interface is by the peripheral module, to institute
It states peripheral hardware service and sends corresponding peripheral hardware service request；
Next client's scene demand from main interface is collected in the main application in interface；
When client's scene demand needs cloud service, the main application in interface is by the scene module, to described
The corresponding cloud service request of cloud service pocket transmission；
When receive cloud service request when, the cloud service group to the interface it is main application or interface son application feedback response
Information；
When the response message needs to show on the screen, the sound is shown by the main application in the interface on the screen
Answer information；
When the response message needs speech play, the voice service is forwarded to by the main application in the interface, by
The voice service provides the voice broadcast function of the response message.
Specifically, example, service humanoid robot acquiescence enabling is the interface of the main application in interface, i.e. main interface, Ke Hutong
Crossing interface touch screen mode requires service humanoid robot to have a dance.The information is collected in the main application in interface, and obtaining client's scene demand is
It please have a dance.Assuming that client's scene demand needs show and report, then by the main application in interface, display " please jump a on the screen
Dance ", is forwarded to voice service by the voice module of the main application in interface, corresponding voice broadcast is provided by voice service.Interface
Main application judges that client's scene demand needs behavior service, so being asked to the corresponding behavior service of behavior scheduler dispatches.
After behavior scheduler receives the demand, according to the current state of service humanoid robot, judge whether behavior service request is permitted
Perhaps；If service humanoid robot is currently at Idle state, behavior scheduler decomposes dancing action, and notice is corresponding
MCU is acted accordingly.At the end of behavior service, behavior scheduler is main using execution result back to interface, in screen
Upper display " dancing terminates ".
Client inputs next demand " please going ATM machine with me " by interface touch screen mode.The main application in interface is collected into this
Information, it is ATM machine to obtain client's scene demand.Assuming that client's scene demand does not need to report, the main application identification in interface should
Client's scene demand needs navigation Service, and the main application in interface is taken by action module to the corresponding navigation of behavior scheduler dispatches
Business request.Navigation instruction is handed down to navigation Service by behavior scheduler, and navigation Service output speed information gives slave computer subsystem,
With the movement of guidance machine people；When servicing humanoid robot arrival ATM machine, report and navigated successfully to navigation agency service, and
It shows and is navigated successfully on screen, navigated successfully by voice service report.
Client inputs next demand " please print bankbook " by interface touch screen mode.The main application in interface is collected into the letter
Breath, judges that client's scene demand needs peripheral hardware service, so the main application in interface is beaten by peripheral module to peripheral hardware service transmission
Print request, peripheral hardware service provide printing function.
Client inputs next demand " please list finance product " by interface touch screen mode.The main application in interface is collected into this
Information judges that client's scene demand needs cloud service.The main application in interface is by scene module, to the banking of cloud service group
The private cloud request cloud service of business.When receiving cloud service request, cloud service group applies feedback response information to interface is main.Interface master
Using the response message is shown on the screen, i.e., corresponding finance product and their income are shown in main interface.Work as response
When information needs speech play, voice service is forwarded to by the main application in interface, the response message is provided by voice service
Voice broadcast function.
In another embodiment of the present invention, embodiment 4, as shown in Figure 2 and Figure 3, a kind of distribution for servicing humanoid robot
Formula controls, and in addition to identical with above-described embodiment 2, further includes：
The customer input information from main interface is collected in the main application in interface, obtains client's scene demand；
When client's scene demand needs interface son application processing, corresponding institute is aroused by the main application in the interface
Interface sub- application is stated, client's scene demand is further processed by the interface application；
When client's scene demand needs voice prompt, forwarded by the voice module that interface is applied
To voice service, corresponding voice broadcast function is provided by the voice service；
When client's scene demand needs peripheral hardware to service, interface is applied by the peripheral module, to institute
It states peripheral hardware service and sends corresponding peripheral hardware service request；
When client's scene demand needs behavior service, interface is applied through the action module, to institute
State the corresponding behavior service request of behavior scheduler dispatches；
When client's scene demand needs cloud service, interface is applied through the scene module, to described
The corresponding cloud service request of cloud service pocket transmission；
When client's scene demand needs navigation Service, interface is applied through the action module, to institute
State the corresponding navigation Service request of behavior scheduler dispatches；
When client's scene demand is completed in interface application, the interface application terminates to service, and returns to institute
State the interface of the main application in interface.
Specifically, example, what service humanoid robot acquiescence enabled is the interface of the main application in interface, and client passes through interface touch screen
Mode requires transfer services.The information is collected in the main application in interface, and it is transfer services to obtain client's scene demand.The main application in interface is sentenced
Client's scene demand of breaking needs transfer accounts son using processing, and sub- application of transferring accounts is aroused in the main application in interface, into son of transferring accounts using boundary
Face, by transferring accounts, son application is further processed client's scene demand.
Son application of transferring accounts can further consult with client's transfer amounts, recipient's account etc., and the interface application collects
Customer input information from interface obtains next client's scene demand, and is shown on the screen；Further inquire client
Whether need to print, when client needs printing, client's scene demand is collected in the interface application, judges client's scene
Demand needs peripheral hardware service, so interface is applied through peripheral module, sends print request to peripheral hardware service, peripheral hardware service carries
For printing function.
If client also has further need, than if desired for behavior service or needing cloud service or needing navigation Service
When, because implementation procedure is similar with the action of the main application in interface, so no longer repeat herein.
When client's scene demand is completed in application in interface, application in interface terminates to service, and returns to the main application in interface.
In another embodiment of the present invention, embodiment 5, as shown in Figure 2 and Figure 3, a kind of distribution for servicing humanoid robot
Formula controls, and in addition to identical with above-described embodiment 2, further includes：
When listening to sound, the voice service asks voice to collected audio signal to the speech recognition cloud
Identification obtains identification text；
The voice service asks to service to the identification text to the knowledge services, obtains relevant knowledge；
Client's scene demand is obtained according to the identification text and the relevant knowledge, the voice service；
Client's scene demand, is forwarded by the voice service, passes through the main application in the interface or interface sub- application
It shows on the screen；
When client's scene demand needs voice prompt, the voice service provides corresponding voice broadcast function；
When client's scene demand needs cloud service, by the forwarding of the voice service, the main application in interface
Or interface is applied through the scene module, is asked to the corresponding cloud service of the cloud service pocket transmission；
When receive cloud service request when, the cloud service group to the interface it is main application or interface son application feedback response
Information；
When the response message needs to show on the screen, applied by the main application in the interface or interface in screen
The upper display response message；
When the response message needs speech play, it is forwarded to by the main application in the interface or interface sub- application described
Voice service is provided the voice broadcast function of the response message by the voice service；
When listening to sound, the voice service asks voice to collected audio signal to the speech recognition cloud
Identification obtains identification text；
The voice service asks to service to the identification text to the knowledge services, obtains relevant knowledge；
Next client's scene demand is obtained according to the identification text and the relevant knowledge, the voice service；
When client's scene demand needs behavior service, the main application in the interface or interface are applied by described dynamic
Make module, asked to the corresponding behavior service of the behavior scheduler dispatches；
When receiving the behavior service request, the behavior scheduler is according to the current shape for servicing humanoid robot
State, judges whether the behavior service request is allowed to；
When behavior service request is allowed to, and needs the slave computer subsystem execution action, the behavior tune
It spends device and carries out movement decomposition, corresponding action request is sent to each MCU；
At the end of behavior service, the slave computer subsystem is to the behavior scheduler execution result back, the row
The main application in the interface or interface sub- application are transmitted to for scheduler；
The main application in the interface or the application of interface show action implementing result on the screen.
Specifically, relatively previous embodiment, the difference of the present embodiment is that client's scene demand is to pass through phonetic entry
's.
" having what finance product " are inquired by voice mode by example, client, and voice service is to collected audio signal
Speech recognition is asked to the speech recognition cloud of the cloud service group, obtains identification text is " having what finance product ".Voice
Service asks to service to the identification text to knowledge services, and knowledge services return preliminary semantic understanding as a result, such as asking
Classification, possible answer, behavior classification etc. are inscribed, it is related to banking to obtain the problem；According to obtained identification text and obtain
The relevant knowledge arrived, voice service obtain client's scene demand as " having what finance product, related to banking ".
This demand is forwarded to the main application in interface or interface sub- application by voice service, and what it is depending on current foreground operation is
Which application；Here, it is assumed that currently running is the main application in interface, so this demand is forwarded to by voice service, interface is main to answer
With.The main application in interface asks cloud service by scene module to the banking private cloud of cloud service group.It please when receiving cloud service
When asking, cloud service group applies feedback response information to interface is main.The main application in interface shows the response message on the screen, that is, exists
Corresponding finance product and their income are shown in main interface.
Next, client " please be had a dance " by voice mode invitation service humanoid robot.Voice service is to collected
Audio signal asks speech recognition to the speech recognition cloud of cloud service group, and it is " please have a dance " to obtain identification text.Voice takes
Business asks to service to the identification text to knowledge services, and knowledge services return to the result of preliminary semantic understanding；According to obtaining
Identification text and obtained relevant knowledge, voice service obtain client's scene demand as " please have a dance ".Client's scene
Demand needs behavior service, so voice service is asked to the corresponding behavior service of behavior scheduler dispatches.Behavior scheduler is received
To after the demand, according to the current state of service humanoid robot, judge that behavior service request can be currently allowed to, then behavior
Scheduler decomposes dancing action, notifies that corresponding MCU is acted accordingly.At the end of behavior service, behavior tune
It is main using execution result back to interface to spend device, shows " dancing terminates " on the screen.
Next, client can also send out other client's scene demands by voice mode, for example, require peripheral hardware service or
Cloud service or navigation Service, distinctive points are to obtain client's scene demand by speech recognition, semantic understanding, when client's scene
After demand obtains, implementation procedure is similar with the action of the main application in interface, so no longer repeat herein.
In another embodiment of the present invention, embodiment 6, as shown in Figure 2 and Figure 3, a kind of distribution for servicing humanoid robot
Formula controls, and in addition to identical with above-described embodiment 2, further includes：
When detecting face information, the recognition of face service carries out recognition of face, obtains face characteristic information；
The recognition of face service judges whether the face characteristic information matches with the face characteristic information of database；
When the face characteristic information with the database matches, the recognition of face service is obtained from the database
Customer information is taken, issues the face agency service；
When need to show on the screen say hello information when, by the forwarding of the face agency service, the interface it is main should
With or interface application show the customer information and information of saying hello on the screen；
When need by voice broadcast say hello information when, pass through the forwarding of the face agency service, the voice service
Report the customer information and information of saying hello.
Specifically, relatively previous embodiment, the present embodiment is to service identification client by recognition of face.
Example, when client stations are when servicing in face of humanoid robot, sensor learns that someone occurs, and camera obtains this visitor
The head portrait at family, recognition of face service calculate the face characteristic information of this client, judge the face characteristic information whether with number
It is matched according to the face characteristic information that library has been deposited, if matching, customer information, the surname of typing before inquiry is obtained from the database
Name, address etc.；Recognition of face service obtains customer information, issues face agency service.Face agency service is according to current service
The usage scenario (people just stands in face of robot) of humanoid robot, to voice service request voice broadcast, to interface master
Using or the sub- application request in interface show, specifically interface it is main application or interface sub- application, depending on current foreground operation
It is which application, so the service humanoid robot is said hello to client, and shows customer name on the screen and information of saying hello.
In another embodiment of the present invention, embodiment 7, as shown in Figure 2 and Figure 3, a kind of distribution for servicing humanoid robot
Formula controls, and in addition to identical with above-described embodiment 2, further includes：
Maintenance centre's periodic modification and the update knowledge base mirror image, and pushed to the host computer subsystem, with
Update the knowledge base.
Specifically, maintenance centre receives the running log that the service humanoid robot that safeguard service is sent records in operation,
Periodically remove to understand the update status of relevant knowledge, for the update of the exception and knowledge of emerged in operation, then periodic modification and more
New knowledge base mirror image, and to service humanoid robot push, with the knowledge base of update service humanoid robot.In this way, pass through knowledge base
Continuous renewal, make service humanoid robot more intelligence and it is increasingly clever.
It should be noted that above-described embodiment can be freely combined as needed.The above is only the preferred of the present invention
Embodiment, it is noted that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, several improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of dcs for servicing humanoid robot, which is characterized in that including host computer subsystem, slave computer subsystem
System and cloud service group；
The host computer subsystem, for pair for providing the software function of service humanoid robot, the service humanoid robot being presented
Outer service content and the agency service of the cloud service group；
The slave computer subsystem, by CAN bus and the host computer subsystem communication, for receiving the host computer subsystem
The behavior command that system issues controls the service humanoid robot to perform corresponding action；And the execution knot by the action
The state of each node of fruit and the service humanoid robot, feeds back to the host computer subsystem；
The cloud service group by the wireless and host computer subsystem communication, provides the long-range of the service humanoid robot
The various service clouds safeguarded and provided by third party enterprise.
2. the dcs of service humanoid robot according to claim 1, it is characterised in that：
If the host computer subsystem includes the main application in interface, the application of dry interface, module layer, core layer, supervisory layers and behavior
Scheduler；The module layer includes：Voice module, peripheral module, action module and scene module；The core layer includes：Language
Sound service, peripheral hardware service, face agency service, navigation proxy service, configuration database, knowledge base, safeguards clothes at knowledge services
Business, recognition of face service, navigation Service；
The slave computer subsystem includes several MCU, several motors and driving group；
The cloud service group includes maintenance centre and service cloud；The maintenance centre includes：Maintenance program and knowledge base mirror image；
The service cloud includes：Scene cloud chats cloud, location-based service cloud, amusement cloud, speech recognition cloud and banking private cloud.
3. the dcs of service humanoid robot according to claim 2, it is characterised in that：
The customer input information from main interface is collected in the main application in interface, obtains client's scene demand；
When client's scene demand needs voice prompt, the main application in interface is forwarded to voice by the voice module
Service provides corresponding voice broadcast function by the voice service；
When client's scene demand needs peripheral hardware to service, the main application in interface is by the peripheral module, to outside described
If service sends corresponding peripheral hardware service request；
When client's scene demand needs behavior service, the main application in interface is by the action module, to the row
For the corresponding behavior service request of scheduler dispatches；
When client's scene demand needs cloud service, the main application in interface is by the scene module, to the high in the clouds
Service the corresponding cloud service request of pocket transmission；
When client's scene demand needs navigation Service, the main application in interface is by the action module, to the row
For the corresponding navigation Service request of scheduler dispatches.
4. the dcs of service humanoid robot according to claim 3, it is characterised in that：
When client's scene demand needs interface son application processing, the corresponding boundary is aroused by the main application in the interface
Face application is further processed client's scene demand by the interface application；
When client's scene demand needs voice prompt, interface is applied is forwarded to voice by the voice module
Service provides corresponding voice broadcast function by the voice service；
When client's scene demand needs peripheral hardware to service, interface is applied through the peripheral module, to outside described
If service sends corresponding peripheral hardware service request；
When client's scene demand needs behavior service, interface is applied through the action module, to the row
For the corresponding behavior service request of scheduler dispatches；
When client's scene demand needs cloud service, interface is applied through the scene module, to the high in the clouds
Service the corresponding cloud service request of pocket transmission；
When client's scene demand needs navigation Service, interface is applied through the action module, to the row
For the corresponding navigation Service request of scheduler dispatches；
When client's scene demand is completed in interface application, the interface application terminates to service, and returns to the boundary
The main application in face.
5. the dcs of service humanoid robot according to claim 2, which is characterized in that further include：
When listening to sound, collected audio signal is known in the voice service to speech recognition cloud request voice
Not, identification text is obtained；
The voice service asks to service to the identification text to the knowledge services, obtains relevant knowledge；
Client's scene demand is obtained according to the identification text and the relevant knowledge, the voice service；
Client's scene demand, is forwarded by the voice service, is applied and is being shielded by the main application in the interface or interface
It is shown on curtain；
When client's scene demand needs voice prompt, the voice service provides corresponding voice broadcast function；
When client's scene demand needs peripheral hardware to service, by the forwarding of the voice service, the main application in the interface or
Interface is applied through the peripheral module, and corresponding peripheral hardware service request is sent to the peripheral hardware service；
When client's scene demand needs behavior service, the voice service is to the corresponding row of the behavior scheduler dispatches
For service request；
When client's scene demand needs cloud service, by the forwarding of the voice service, the main application in the interface or boundary
Face is applied through the scene module, is asked to the corresponding cloud service of the cloud service pocket transmission；
When client's scene demand needs navigation Service, the voice service is led to the behavior scheduler dispatches are corresponding
Boat service request.
6. the dcs of service humanoid robot according to claim 2, it is characterised in that：
When detecting face information, the recognition of face service carries out recognition of face, obtains face characteristic information；
The recognition of face service judges whether the face characteristic information matches with the face characteristic information of database；
When the face characteristic information with the database matches, the recognition of face service obtains visitor from the database
Family information issues the face agency service；
When need to show on the screen say hello information when, by the forwarding of the face agency service, the main application in the interface or
Interface son application shows the customer information on the screen and information of saying hello；
When need by voice broadcast say hello information when, by the forwarding of the face agency service, the voice service is reported
The customer information and information of saying hello.
7. according to the dcs of the service humanoid robot of claim 3 or 4, it is characterised in that：
When receiving the behavior service request, the behavior scheduler is sentenced according to the current state of the service humanoid robot
Whether the disconnected behavior service request is allowed to；
When behavior service request is allowed to, and needs the slave computer subsystem execution action, the behavior scheduler
Movement decomposition is carried out, corresponding action request is sent to each MCU.
8. according to the dcs of the service humanoid robot of claim 3 or 4, it is characterised in that：
When receiving cloud service request, the cloud service group believes to the main application in the interface or interface son application feedback response
Breath；
When the response message needs speech play, the voice is forwarded to by the main application in the interface or interface sub- application
Service is provided the voice broadcast function of the response message by the voice service.
9. according to the dcs of the service humanoid robot of claim 3 or 4, it is characterised in that：
When receiving the navigation Service request, navigation instruction is handed down to the navigation Service by the behavior scheduler；
The navigation Service output speed information gives the slave computer subsystem, with the movement of guidance machine people；
When the service humanoid robot encounters barrier in navigation procedure, report navigation different to the navigation proxy service
Often；
When the service humanoid robot reaches appointed place, report and navigated successfully to the navigation proxy service；
When navigational state needs display, the navigation proxy service is applied by the main application in the interface or interface in screen
The upper display navigational state；
When navigational state needs to play, the navigation proxy service reports the navigational state by the voice service.
10. the dcs of service humanoid robot according to claim 2, it is characterised in that：
Maintenance centre's periodic modification and the update knowledge base mirror image, and pushed to the host computer subsystem, with update
The knowledge base.
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