CN103499972B - A kind of many scenes of all-purpose robot control method based on containment type hierarchical structure - Google Patents
A kind of many scenes of all-purpose robot control method based on containment type hierarchical structure Download PDFInfo
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Abstract
The invention discloses a kind of many scenes of containment type hierarchical service robot control method, for under multiple scenes, utilize priority mechanism and forbid mechanism, by keyboard instruction, phonetic order, socket (Socket) instruction and E-mail instructions control service robot, and have and simply keep away barrier walking function. Remarkable advantage of the present invention be every kind of control mode with hierarchical structure executed in parallel, between level, use simple priority mechanism and forbid that mechanism coordinates, therefore real-time is good; This control method is Software for Design, irrelevant, therefore portable good with robot platform; Main control module is not set, and increasing new function does not need again to write existing module, and therefore extensibility is good; The coordination system is simple, compares complicated main control module low to processor requirement, and therefore hardware cost reduces, and is easy to popularize.
Description
Technical field
The present invention relates to robot control field, particularly many of a kind of all-purpose robots based on containment type hierarchical structureScape control method.
Background technology
In China's " National Program for Medium-to Long-term Scientific and Technological Development (2006～the year two thousand twenty) ", mention " Intelligent Service machineDevice people is the integrated intellectuality equipment of multiple high-tech that essential service is provided for the mankind under non-structure environment ".
Along with the development of Robotics, robot control method also changes at development. Traditional control method adopts" perception → plan → action " (" Sense → Plan → Act ") framework, first by sensor senses surrounding environment, reception notInstruction of the same type, then delivers to main control module by information and comprehensively analyzes, and finally show that next step action is transferred toCorresponding module is carried out. Such as FelipeTrujillo-Romero of TechnologicalUniversityoftheMixteca etc.A kind of multi-mode (multimodal) robot control system that people proposes, first this system is obtained from camera and microphoneImage and voice messaging, through sending into main control module after identification, then main control module uses Voting Algorithm to determine nextThe behavior of step, last CD-ROM drive motor is carried out. The HERB that domestic and international famous research institution proposes in recent years, ARMAR-III,The robots such as PengPengII use this framework, and have obtained good intelligent effect.
" but perception → plan → action " (" Sense → Plan → Act ") framework is not too suitable as the control of service robotSystem processed. Mainly contain three reasons:
1, in the time adding or delete sensor and auxiliary function module, need to redesign the total score in main control moduleAnalyse algorithm. This makes to upgrade existing robot system and becomes of a high price.
2, service robot is mainly used to receives user's and carries out, and without the need for very strong capacity of will, but wantsAsk good real-time. But along with the continuous increase of robot sensor and auxiliary function module, master control mouldThe comprehensive parser of piece can become very complicated, will affect the real-time of service robot.
3, complicated main control module can be very high to processor requirement, and this will improve the hardware cost of service robot, impactThe popularization of service robot.
The Brooks of MIT once proposed a kind of containment type level framework (subsumption) overcome " perception → plan →Action "
The shortcoming of (" Sense → Plan → Act ") framework. In containment type level framework (subsumption), control system of robotSystem is divided level by Task-decomposing parallel processing, uses the simple mechanism (suppressionand that suppresses between levelInhibition) coordinate, there is no main control module. Use the robot of containment type level framework to have Myrmix etc., gather aroundThere is very high real-time performance.
But there are two major defects in containment type level framework (subsumption):
1,, in the time that system level increases, be difficult to design inhibition mechanism task is decomposed parallel well.
2, from circuit aspect control, therefore robot control system does not possess portability.
In recent years, company of many robots (as Japanese Vstone Co., Ltd., Beijing Universal Pioneering Technology Co., Ltd. etc.), by abstract the control of the hardware view interface that becomes C/C++ language, this is that robot control system and robot are hardPart platform separates, and the portability of realizing robot system provides technical support.
Summary of the invention
Goal of the invention: technical problem to be solved by this invention is for the deficiencies in the prior art, provides a kind of based on bagMany scenes of all-purpose robot control method of appearance formula hierarchical structure.
In order to solve the problems of the technologies described above, the invention discloses the control of a kind of many scenes of containment type hierarchical service robotMethod, under multiple scenes, utilizes priority mechanism and forbids mechanism, by keyboard instruction, phonetic order,Socket (Socket) instruction and E-mail instructions control service robot, and have and simply keep away barrier walking function, comprise withLower step:
(1) the people's platform that starts the machine, starts external or Embedded computer, and camera, microphone are connected to meterCalculation machine;
(2) computer is accessed network, and set up socket as server end and client and be connected;
(3) create four instruction queues, for depositing four control instructions under scene;
(4) priority of four instruction queues of definition;
(5) start four control modules and be used for receiving instruction;
(6) control module instruction queue corresponding to the instruction receiving packs into;
(7) from four instruction queues, take out the instruction that priority is the highest;
(8) recognition instruction;
(9) carry out instruction, return to step (6).
Wherein step (8) is further comprising the steps:
(81) if instruction None-identified provides " UnknownCommand (order of None-identified) " at control interfacePoint out and abandon;
(82) if instruction can be identified, enter step (9)
Wherein step (9) is further comprising the steps:
(91) if instruction cannot be carried out, provide " Obstacleahead (barrier appears in front) " at control interfacePoint out and abandon;
(92) if instruction can be carried out, after finishing, execution returns to step (6).
In said method, robot platform refers to all machines of the C/C++ language interface of the control that hardware view is providedPeople.
In said method, external or Embedded computer refers to: install windows operating system, camera andMicrophone driver, Microsoft's speech recognition software, and there is the computer of network connecting function.
In said method, control scenes for four and refer to respectively: the external or embedded computer (being designated as scene-0) of direct control,With robot same room with them (being designated as scene-1), with robot can outside house, same building (being designated as scene-2), house(be designated as scene-3) all over the world with what surf the Net.
In said method, four kinds of control modes refer to respectively: keyboard instruction, phonetic order, socket (Socket) instruction,E-mail instructions.
In said method, to take out the highest instruction of priority and completed by priority mechanism, the effect of realization is: instruction teamPriority between row is defined by user, and it is high that user is defined as high instruction queue priority; Same instruction queueInner priority determines by time sequencing, and the instruction priority of first joining the team is high.
In said method, four control modules refer to respectively: keyboard receiver module, sound identification module, socket (Socket)Communication module, mail reception module.
In said method, the Starting mode of control module is: with form the concurrent or executed in parallel of separate threads.
In said method, recognition instruction refers to: search the processing mode of present instruction in system, if not definition placeReason mode, None-identified.
In said method, carry out instruction and comprise that calling service software carries out instruction and CD-ROM drive motor execution instruction. Serve softPart comprises: weather forecast, mail send, visiting notice. CD-ROM drive motor comprises: advance, walk left, walk to the right,Turn left, turn right, retreat.
In said method, keep away barrier walking function by obstacle detection module and forbid that mechanism completes, when obstacle detection module defeatedGo out obstacle information, can trigger and forbid mechanism, motor cannot be taken action.
The present invention overcomes tradition " perception → plan → action " (" Sense → Plan → Act ") framework should at service robotWith in shortcoming, introduce containment type hierarchical structure (subsumption) technology, robot control system is carried out to stratification and establishesMeter, uses the simple coordination system, cancels the setting of main control module, also overcomes containment type hierarchical structure simultaneously(subsumption) in, suppress machine-processed design, the portable poor shortcoming of being difficult to, proposing one can under several scenesControl, use priority mechanism and forbid two kinds of simple coordination systems of mechanism, there is better real-time, portabilityService robot control method with extensibility.
Beneficial effect: remarkable advantage of the present invention is that every kind of control mode is with hierarchical structure executed in parallel, between levelUse simple priority mechanism and forbid that mechanism coordinates, therefore real-time is good; This control method is that software is establishedMeter, irrelevant, therefore portable good with robot platform; Main control module is not set, and increasing new function does not need heavilyNewly write existing module, therefore extensibility is good; The coordination system is simple, compares complicated main control module processor is wantedAsk low, therefore hardware cost reduces, and is easy to popularize.
Brief description of the drawings
Below in conjunction with the drawings and specific embodiments, the present invention is done further and is illustrated, of the present invention above-mentioned and/Or otherwise advantage will become apparent.
Fig. 1 is Organization Chart of the present invention.
Fig. 2 is work operational flow diagram of the present invention.
Fig. 3 is sound identification module schematic diagram.
Fig. 4 is socket communication module schematic diagram.
Fig. 5 is mail reception module diagram.
Fig. 6 is obstacle detection module diagram.
Fig. 7 is priority mechanism work sheet.
Fig. 8 forbids mechanism works figure.
Detailed description of the invention
Fig. 1 is Organization Chart of the present invention. (with priority be set to scene-0 higher than scene-1 higher than scene-2 higher than scene-3 is example)
The present invention is designed to control mode four levels of corresponding scene:
(1) scene-0 of the corresponding direct control of Keyboard Control robot. Receive information by keyboard, keyboard instruction is packed intoInstruction queue-0; The implementation of keyboard receiver module is: use scanf () function to read user's keyboard from consoleInput, is packaged into the instruction of text formatting, and the push function of call instruction queue-0 packs keyboard instruction into queue.
(2) voice control correspondence and scene-1 of robot at same room with them. Receive information by microphone, at voiceIdentification module is by phonetic order load queue-1; As shown in Figure 3, the implementation of sound identification module is: peaceDress MicrosoftSpeechSDK5.1 and Chinese language bag, use MicrosoftSpeechSDK5.1 to carrySpeech recognition function is write audio monitoring device, calls CComPtr<ISpRecoResult>in GetText () function to prisonThe voice messaging of hearing is converted to Word message, and Word message is extracted to keyword, is packaged into the instruction of text formatting,The push function of call instruction queue-1 packs phonetic order into queue.
(3) socket (Socket) is controlled correspondence and scene-2 of robot in house, same building. By socket (Socket)Reception information, socket (Socket) communication module is by socket (Socket) instruction load queue-2; As shown in Figure 4,The implementation of socket (Socket) communication module is: the service end that computer is communicated by letter as socket (Socket) is by establishingPut server address, bound socket (bind function), listening port (listen function) and the client (accept that connectsFunction), then receive socket (Socket) information (recv function) from client, then to socket (Socket) informationExtract keyword, be packaged into the instruction of text formatting, the push function of call instruction queue-2 packs Socket instruction intoQueue.
(4) scene-3 all over the world that mail control correspondence can be networked. Receive information, mail control by mailing systemMolding piece is E-mail instructions, load queue-3; As shown in Figure 5, the implementation of mail control module is: peaceFill and register Jmail4.4 assembly, connect mail server by the Connect () function of Jmail4.4 assembly, fromIn Messages member's mail tabulation, poor according to last number of mail and number of mail this time, obtains appointmentThe unread mail of mailbox, then Mail Contents is extracted to keyword, be packaged into the instruction of text formatting, load queue-3。
In the robot control system shown in Fig. 1, priority mechanism one co-exists in three places. The first place is instruction queue-0 obstruction for instruction queue-1, as long as there is instruction output instruction queue-0, instruction queue-1 just gets clogged, instructionIdentification is preferentially sent in the instruction of queue-0. The second place is instruction queue-0 and 1 obstruction for instruction queue-2, onlyWant instruction queue-0 or 1 to have instruction output, instruction queue-2 just get clogged, and the instruction of instruction queue 0 or 1 is by preferentialSend into identification. The 3rd place is instruction queue-0,1 and 2 obstructions for instruction queue-3, as long as instruction queue-0,1Or 2 have instruction output, instruction queue 3 just gets clogged, and identification is preferentially sent in the instruction of instruction queue 0,1 or 2.
Fig. 2 is work operational flow diagram of the present invention.
Step S01: the people's platform that starts the machine, start external or Embedded computer, camera, microphone are connectedConnect computer.
In this step, the external world of robot or embedded computer need to install windows operating system, camera andThe computer of microphone driver, Microsoft's speech recognition software.
Step S02: computer is accessed network, and set up socket as server end and client and be connected.
Computer is as server end in this step, and in house, other control ends, as client, are set up one-to-manySocket connects.
Step S03: create four instruction queues, corresponding four control modes of controlling under scene.
In this step, the establishment mode of instruction queue is: newly-built four C++ template class queue, queue templateElement is the instruction of text formatting.
Step S04: the priority of four instruction queues of definition.
In this step, definite mode of priority is: the priority between instruction queue is defined by user, userBe defined as high instruction queue priority high.
Step S05: start four control modules and be used for receiving instruction.
In this step, the Starting mode of control module is: use four threads of pthread_create function creation, and everyIndividual control module is with form the concurrent or executed in parallel of separate threads.
Step S06: control module instruction queue corresponding to the instruction receiving packs into.
In this step, the mode that instruction is joined the team is: control module is used the push function of queue template that instruction is filledEnter corresponding instruction queue.
Step S07: take out the instruction that priority is the highest from four instruction queues.
In this step, as shown in Figure 7, four instruction queues under the coordination of priority mechanism, the finger of limit priorityOrder is the instruction of first taking-up, uses queue template pop function to take out instruction.
Step S08: recognition instruction.
In this step, search the processing mode of present instruction in system, if there is no definition process mode, enterStep S09; Otherwise enter step S10.
Step S09: be given in control interface and provide the prompting of " UnknownCommand ", and abandon, return to stepRapid S07.
Step S10: whether decision instruction can be carried out.
In this step, if present instruction is CD-ROM drive motor, and obstacle detection module exports the information that cannot carry out,Trigger and forbid that as shown in Figure 8 mechanism forbids CD-ROM drive motor, enter step S11; Otherwise enter step S12.
Step S11: provide " Obstacleahead " prompting at control interface, and abandon, return to step S07.
Step S12: carry out instruction, and return to step S07.
As shown in Figure 1, robot behavior can comprise service software module, comprising: weather forecast, mail send,Visiting notice.
The implementation of weather forecast is: use gethostbyname () function to obtain www.webxml.com.cn by nameThe address of weather forecast website, set up Socket with this weather forecast website and be connected, use send () function to this skyGas forecast website sends request message, imports city code into as parameter, calculates required Weather information at returned packet (recvFunction) in side-play amount, thereby obtain weather forecast, the Speak function re-using in MicrosoftSDK5.1 carries outReading aloud of weather forecast.
The implementation that mail sends is: Jmail4.4 assembly is installed, is used the function of sending out fast mail in Jmail4.4SendMail, passes sender's mailbox, addressee's mailbox, mail matter topics, text, smtp server with parametric formEnter.
The implementation of visiting notice is: Jmail4.4 assembly and OpenCV2.3.1 storehouse are installed, use OpenCV2.3.1The function cvCaptureFromCAM () that takes pictures in storehouse takes pictures to visitor, uses hair band annex mail in Jmail4.4Function Send (), by sender's mailbox, addressee's mailbox, mail matter topics, text, smtp server with member variableForm import into, by take visitor's photo import into attachment version (AddAttachment function).
The effect of drive motor module is shielding robot platform details, realizes the portability of system. Concrete realization sideFormula is: the interface interchange sequence that each motor action is converted to concrete robot platform. The machine that we have realizedThe motor action of robot system comprises: advance, walk left, walk to the right, turn left, turn right, retreat. The reality of each actionExisting mode is the motor port of calling the C/C++ language that robot platform provides. With artificially example of Robovie_X machine,The realization of each action is and first uses VSRC003_LoadMotion () function to be written into motor port, re-usesVSRC003_PlayMotion () function performs an action. The correspondence table of instruction-action-interface is:
Transplanting mode of the present invention is as follows:
Transplanting condition provides C/C++ language interface for robot platform.
In the time that the present invention is transplanted to new engine people platform R, by the action of existing motor: advance, walk left, walk to the right,Turn left, turn right, retreat, be converted to respectively the motor port calling sequence of R robot. For example,, when R robot isAnthropomorphic robot, the action of " advancing " is converted to that leg " is lifted " by R robot and alternately the calling of " putting leg " interface;When R robot is spider-shaped robot, the action of " advancing " is converted to R robot and " creeps " interface repeatedlyCall.
Through experimental verification, after replacing the calling interface in drive motor module, can realize the transplanting of system. Following tableTwo kinds of robot platforms (first group of experiment is Robovie-X, and second group of experiment is VstoneTichno) of experiment use.
The present invention has also designed and has kept away barrier walking function, while avoiding robot action and barrier collision. As shown in Figure 6, barrierHinder the implementation of detection module to be: OpenCV2.3.1 storehouse to be installed, by OpenCV2.3.1 built-in functionCvCreateCameraCapture () obtains video and re-uses cvQueryFrame () function and capture a two field picture, usesThe photo of shooting is changed into gray level image by cvCvtColor () function, through level and smooth (cvSmooth function), Extract contourAfter (extractContourImg function), then be bianry image (cvThreshold function) by greyscale image transitions, calculate blackPixel (barrier) accounts for the percentage of the total pixel of picture, (after many experiments, determines 6% if result of calculation is greater than threshold valueFor suitable), there is barrier in judgement, and output obstacle information, activates and forbids mechanism, all CD-ROM drive motor moulds of sending toThe instruction of piece is all dropped, and forbids carrying out.
Fig. 8 forbids mechanism works figure. Forbid that machine-processed effect is that inhibit command is carried out. If high-rise module is not exportedInformation, forbids machine-processed un-activation, and present instruction can be sent into execution. If high-rise module output information, forbidsMechanism activates, and present instruction is dropped, and forbids carrying out.
In the robot control system shown in Fig. 1, forbid that mechanism one co-exists in a place. When obstacle detection module output barrierHinder thing information, all instructions of sending to drive motor module are all dropped, and forbid carrying out.
The invention provides a kind of many scenes of all-purpose robot control method based on containment type hierarchical structure, specific implementationMethod and the approach of this technical scheme are a lot, and the above is only the preferred embodiment of the present invention, and it is right to it should be pointed out thatIn those skilled in the art, under the premise without departing from the principles of the invention, can also make someImprovements and modifications, these improvements and modifications also should be considered as protection scope of the present invention. In the present embodiment not clear and definite each groupOne-tenth part all available prior art is realized.
Claims (1)
1. many scenes of the all-purpose robot control method based on containment type hierarchical structure, is characterized in that, comprises following stepRapid:
(1) the people's platform that starts the machine, starts external or Embedded computer, and camera, microphone are connected to meterCalculation machine;
(2) computer is accessed network, and set up socket as server end and client and be connected;
(3) create four instruction queues, for depositing the control instruction of keyboard, microphone, socket and mail;
(4) priority of four instruction queues of definition, is followed successively by keyboard, microphone, socket and postal from high to lowThe control instruction of part;
(5) start four control modules and be used for receiving instruction;
(6) four control modules instruction queue corresponding to the instruction receiving pack into;
(7) from four instruction queues, take out the instruction that priority is the highest;
(8) robot platform recognition instruction;
(9) robot platform control is carried out instruction;
Step (8) is further comprising the steps:
(81) if instruction None-identified provides prompting and abandons instruction at control interface;
(82) if instruction can be identified, enter step (9);
Wherein step (9) is further comprising the steps:
(91) if instruction cannot be carried out, provide prompting and abandon instruction at control interface;
(92) if instruction can be carried out, after finishing, execution returns to step (6);
Take out the highest instruction of priority and completed by priority mechanism, the priority of same instruction queue inside is determined by time sequencingFixed, the instruction priority of first joining the team is high;
Four control modules refer to respectively: keyboard receiver module, sound identification module, socket Socket communication module, mailReceiver module;
The Starting mode of control module is: with form the concurrent or executed in parallel of separate threads.
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| CN106569613A (en) * | 2016-11-14 | 2017-04-19 | 中国电子科技集团公司第二十八研究所 | Multi-modal man-machine interaction system and control method thereof |
| US9817967B1 (en) * | 2017-01-13 | 2017-11-14 | Accenture Global Solutions Limited | Integrated robotics and access management for target systems |
| CN109976338A (en) * | 2019-03-14 | 2019-07-05 | 山东大学 | A kind of multi-modal quadruped robot man-machine interactive system and method |
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