CN106648614A - Modular platform-based robot development system architecture and main control unit thereof - Google Patents
Modular platform-based robot development system architecture and main control unit thereof Download PDFInfo
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Abstract
The invention provides modular platform-based robot development system architecture and a main control unit thereof. The modular platform-based robot development system architecture includes a sensing unit, action executing units and an interaction unit, and the sensing unit, the action executing units and the interaction unit are controlled through the main control unit. The main control unit includes an initialization module, an instruction interaction module, an information interaction module and an action executing module; the initialization module conducts initialization on the parameters of the action executing units and the system variable parameter in the main control unit; the instruction interaction module receives a command of the interaction unit and compiles the command into an action command; the information interaction module collects data of the sensing unit; the action executing units are used for executing the action command. The modular platform-based robot development system architecture is ingenuous in logic structure and high in modularization degree, the consistent communication standard is adopted, communication protocols of the sensing unit, the action executing units and the main control unit are unified, and people can conveniently study and develop robots based on the platform architecture.
Description
Technical field
The present invention relates to robot development system framework, and in particular to the robot development system framework of modular platform and
Its main control unit.
Background technology
It it is within 2016 the artificial intelligence first year, the AlphaGo of Google makes a stir all over the world.Machine is the carrier of artificial intelligence technology,
Thus, research institute or company all over the world also releases Duo Kuan robots, and from humanoid robot, service robot arrives the military
War preparedness robot, it may be said that robot row flourishing burning hot development as mobile Internet then.Robot on the market
More based on industrial robot and service robot, these robots are usually according to specific customizing functions, such as to weld
Robot, sweeping robot etc., will make that further modification upgrading is just extremely difficult in these robots, and being substantially all will be again
Design.And general robot developing platform introduction is relatively higher, and major company's monopolization is substantially, it is expensive, some
Little enterprise or individual are essentially without consideration.Those little robot developing platforms often provide only some development boards or exploitation
Module, is only suitable for for learning or doing easy toy.At present, it is badly in need of a kind of robot that exploitation is easy, the degree of modularity is high
Development platform.
The content of the invention
It is an object of the invention to overcome the problem above that prior art is present, there is provided the robot based on modular platform
Development system framework, logical construction of the present invention is ingenious, and the degree of modularity is high, is convenient for people to carry out robot in this platform architecture
Research and development.
To realize above-mentioned technical purpose, above-mentioned technique effect is reached, the present invention is achieved through the following technical solutions：
Based on the robot development system framework of modular platform, including main control unit, sensing unit, action executing list
Unit, interactive unit；Described sensing unit, action execution unit, interactive unit is by main control unit control；User is by described
Interactive unit input instruction to main control unit, transmit to main control unit, and main control unit process is simultaneously by sensing unit sensing external signal
Generate the instruction of the described action execution unit of control, described action execution unit execute instruction；It is described sensing unit, dynamic
Make to be communicated between performance element, interactive unit and main control unit and adopt interactive communication, the communication protocol of described each interactive communication
It is consistent.
Further, described interactive unit includes the interaction of PC ends, mobile terminal interaction, the interaction of action simulation device；Described
The interaction of PC ends, mobile terminal interaction are all connected with Cloud Server；Described interactive unit adopts nothing with the transmission means of main control unit
Line transparent transmission；Described mobile terminal interaction includes that interactive voice, intelligent object, action recognition interaction, expression recognition are interacted, moved
Make simulation interaction.
Further, the described robot development system framework based on modular platform also performs list including special action
Unit；Feedback unit is designed with described special action performance element, sensing unit, action execution unit, interactive unit；It is described
Feedback unit be connected with main control unit, provide feedback information for main control unit.
Based on the robot development system main control unit of modular platform, including initialization module, instruction interaction module, letter
Breath interactive module, action executing module；It is in described initialization module initialization action performance element parameter and main control unit
System variable parameter；Described instruction interaction module receives interactive unit and instructs and be compiled into action command；Described information exchange
Module gathers sensing unit data；Described action executing module performs described action command；Described initialization module exists
Highest priority in main control unit.
Further, described initialization module is comprised the steps of：Hardware initialization, equipment initialization, system are global
Initialization of variable, creation module task.
Further, described initialization module is also comprised the steps of：Main power source is opened, exports version information, user
Configuration loading, unlatching tick interrupt, open system multitask switching, early warning alarm cycle.
Further, described instruction interaction module is comprised the steps of：Wait instruction, interrupt detection, selection instruction class
Type.
Further, described instruction interaction module is also comprised the steps of：Specification of variables and initialization, instruction check,
Send feedback message.
Further, described information exchange module is comprised the steps of：Sample frequency, sensing unit sampling are set, are looked into
Ask action execution unit information.
Further, described information exchange module is also comprised the steps of：The initialization of task internal variable, filtering, threshold value
Judge, count cycle-index, obtain device signal, judge information to mistake.
Further, described action executing module is comprised the steps of：Type of action judgement, operating state judge, send out
Send action command, perform action command.
Further, described action executing module is also comprised the steps of：Initialization of variable, action synchronously judge, move
Make time-out judgement, actuation cycle to judge, update robotary, false judgment, delete action command.
Further, the robot development system main control unit based on modular platform, also including free state module, adjusts
Examination test module, described free state module is robot control module when no interactions unit is operated；Described debugging test
Module is used for debugging maintenance.
Further, described free state module is comprised the steps of：Idle condition judges, setting contextual model, feelings
Scape mode decision (execution contextual model), free state mode decision, generation random number judge to perform probability, perform with motor-driven
Make.
Further, described free state module is also comprised the steps of：Initialization of variable, delay adjustmentses, judgement are used
Family configuration, avoidance judge (execution avoidance).
The invention has the beneficial effects as follows:The present invention is provided based on the robot development system framework of modular platform, including
Sensing unit, action execution unit, the interactive unit controlled by main control unit, described main control unit include initialization module,
Instruction interaction module, information exchange module, action executing module；Described initialization module initialization action performance element parameter
With system variable parameter in main control unit；Described instruction interaction module receives interactive unit and instructs and be compiled into action command；
Described information exchange module collection sensing unit data；Described action executing module performs described action command.This
Bright logical construction is ingenious, and the degree of modularity is high, using consistent communication standard, each sensing unit of unification, action execution unit with
The communication protocol of main control unit, so as to be convenient for people to carry out research and development to robot based on this platform architecture.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
The specific embodiment of the present invention is shown in detail in by following examples and its accompanying drawing.
Description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, this
Bright schematic description and description does not constitute inappropriate limitation of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the robot development system Organization Chart based on modular platform of the present invention；
Fig. 2 is the main control unit organization chart of the present invention；
Fig. 3 is the initialization module schematic flow sheet of the present invention；
Fig. 4 is the instruction interaction block process schematic diagram of the present invention；
Fig. 5 is the information exchange module schematic flow sheet of the present invention；
Fig. 6 is the action executing module schematic flow sheet of the present invention；
Fig. 7 is the free state block process schematic diagram of the present invention；
Fig. 8 is the debugging test module schematic flow sheet of the present invention；
Fig. 9 is the user side communication data transmission flow schematic diagram of the present invention；
Figure 10 is that the user side communication data of the present invention receives schematic flow sheet；
Figure 11 is the sensing unit communication structure schematic diagram of the present invention；
Figure 12 is the action execution unit communication structure schematic diagram of the present invention；
Figure 13 is the sensing unit communication process schematic diagram of the present invention；
Figure 14 is the action execution unit communication process schematic diagram of the present invention.
Specific embodiment
Below with reference to the accompanying drawings and in conjunction with the embodiments describing the present invention in detail.
Shown in reference picture 1-14, based on the robot development system framework of modular platform, as shown in figure 1, including master control
Unit, sensing unit, action execution unit, interactive unit, special action performance element, sensing unit, action execution unit, friendship
Mutually unit, special action performance element are by main control unit control；Special action performance element include under water rise and fall module, keep away under water
Barrier module.As shown in Fig. 2 main control unit includes initialization module, instruction interaction module, information exchange module, action executing mould
Block；Initialization module initialization action performance element parameter and system variable parameter in main control unit；Instruction interaction module is received
Interactive unit instructs and is compiled into action command；Described information exchange module collection sensing unit data；Action executing module
Perform described action command；Initialization module highest priority in main control unit.
Preferably, it is designed with feedback unit in sensing unit, action execution unit, interactive unit；Described feedback unit
It is connected with main control unit, for main control unit feedback information is provided.Main control unit judges whether that performing user refers to according to feedback information
Make, whether decision instruction completes, decision instruction whether complete transmission, whether decision instruction can smoothly perform, judge that robot is
It is no to need avoidance, judge robot whether freedom of entry state etc..
With reference to Fig. 3, initialization module flow process is as follows：System initialization, before system break is not opened, carries out various hardware
Initialization, interrupts and opens (1ms), into system global variables initialization, reads the user configuring letter in main control unit flash
Breath, checks mistake, creates remaining module design task, afterwards into endless loop, checks mistake, errors excepted, arranges alarm flashing light frequency
Rate.
With reference to Fig. 4, instruction interaction block process is as follows：The module design task be obstructive type task, primary recipient interactive unit
Instruction (communications command and data).Etc. the message for getting to be interrupted, if interrupt to receive meeting frame head postamble, and judge
Robotary and receive length and do not have after exception, send instruction, action execution unit receives after instruction, first determines whether to carry out
CRC check, verifies and goes out instruction type according to structure elucidation command analysis by rear, performs and instructed after parsing, finally returns to message.
With reference to Fig. 5, information exchange module flow process is as follows：Task internal variable is initialized, delay adjustmentses, forms sample frequency,
Sensing unit sampling, filtering, statistics cycle-index, threshold decision, more than threshold value, query actions performance element information, acquisition sets
For signal, judge information to mistake.Information exchange module is used for the various sensing unit data of high-frequency collection robot, processes and divides
Analysis, makes as needed corresponding actions or updates robot output data packet content.The type of sensing unit generally comprises voltage
Current sensing unit, depth sensing unit, hall sensor unit, sonar sensing unit, apart from infrared sensor cell, gyroscope.
Preferably, action execution unit also includes steering wheel, water pump, air pump.Plus angular speed and gyroscope signal are collected by IIC interfaces,
It is mainly used in balance and stability control；Voltage, electric current, depth signal are collected by AD interfaces, and for undervoltage warning, excessively stream is protected
Shield, sink-float control judgement etc.；The angle of sonar range finding and each action execution unit, velocity information are collected by bus, are used respectively
In avoidance, with main control unit communication and the judgement of each action execution unit implementation status.
With reference to Fig. 6, action executing module flow process is as follows：Initialization of variable, (type of action judges, moves parsing action command
Make condition adjudgement, sending action instruction, perform that action command, action synchronously judge, action time-out judges, actuation cycle judges)
Judge whether it is real-time testing action, according to classification, to movement structure body pointer to be resolved different pointer values are given.Next
Parsing action step by step, according to type of action, time-out, action number of repetition, the sync bit of each operating state, action control mould
Formula etc., sets steering wheel angle, steering wheel speed etc., after having performed one-off parsing, it will judge type of action, release signal
Amount, tells that main control unit can start to continue to run with, and updates robotary, and false judgment simultaneously deletes action command.
Preferably, as shown in figure 1, interactive unit includes the interaction of PC ends, mobile terminal interaction, the interaction of action simulation device；PC ends
Interaction, mobile terminal interaction are all connected with Cloud Server；Interactive unit adopts wireless transparent transmission with the transmission means of main control unit.It is mobile
End interaction includes interactive voice, intelligent object, action recognition interaction, expression recognition interaction, action simulation interaction.Interaction is single
Unit connects main control unit by wifi wireless transparent transmissions, can set angle, speed of each action execution unit of robot etc.
Information, while each action execution unit can be read and the state of each sensing unit is judged, by the action group of certain rule
Close and realize the various actions wanted and reach after test compiling, combination of actions can be saved in main control unit in the form of command code
Flash, while can also upload on Cloud Server share or charge sell.Robot to perform certain order when just from
Corresponding command sequence is read out in the Flash of main control unit and corresponding pass down the line is parsed into respectively by hardware system automatically
Individual action execution unit.Information exchange module can be with the various states of real-time query robot, energy and alarm when breaking down,
If certain action execution unit is damaged, directly changing the action execution unit damaged and do certain parameter setting just can be after
It is continuous to use, convenience easy to maintenance.Whole system framework really realizes modular intelligent design, and extensibility is very strong.Action mould
Intend device and main control unit is connected by wireless module, can simply control each action execution unit and perform various basic actions, knot
Closing interactive unit can faster debug out the combinative movement that you want.
As shown in Fig. 2 main control unit also includes free state module, debugging test module；Free state module is without friendship
Robot control module when mutually unit is operated；Debugging test module is used for debugging maintenance.
With reference to Fig. 7, free state block process is as follows：This module is used to process contextual model, avoidance, generates free action
Order.First, in priority, this special circumstances highest priority of contextual model, detection sensing unit data, comprehensive descision,
If meeting a certain contextual model, the action command that the contextual model is arranged will be directly performed, when the contextual model not met
When, first go to judge sensing unit value, avoidance operation is carried out, if not needing avoidance, judge current robot state, perform phase
The action answered, if free state, then firstly generates the random number in action command quantitative range, while calculating random number
Perform probability to decide whether to perform the action, after reaching occurrence number, perform the order of correspondence random number.
With reference to Fig. 8, debugging test module adopts oscillograph, and by arranging time delay with output in observation oscillograph machine is judged
Whether each module each unit of device people is normal.
It should be appreciated that the unit is expressed as actual hardware entity, the module is expressed as software logic process.
Preferably, communicate with adopting between described sensing unit, action execution unit, interactive unit and main control unit and interact
Communication, the communication protocol of described each interactive communication is consistent.Described interactive communication includes user side communication, sensing unit
Communication, action execution unit communication, as shown in figure 1, user side communicates for transmitting instruction that interactive unit sends to master control list
Unit, interactive unit is transmitted back to after main control unit process by described user side communication by instruction feedback；Sensing is single
Unit communicates for transmitting the instruction after main control unit is processed to sensing unit, and after sensing unit sensing described sensing unit is passed through
Sensory feedback information transfer is returned main control unit by communication；Action execution unit communicates for transmitting the instruction after main control unit is processed
To action execution unit, after action execution unit execution action execution action is fed back by described action execution unit communication
Information transfer returns main control unit.
Preferably, the transmission means of user side communication is wireless transparent transmission or wifi transmission or Bluetooth transmission.
User side communication includes data is activation, data receiver, and user side communication is transmitted with user side packet, such as the institute of table 1
Show, user side data packet format is frame head+machine code name+instruction type+data length+subcommand+subcommand data+verification frame
+ postamble.
Table 1
User side data packet format explanation：
(1) frame head, is respectively 0xfe, 0xef with two byte representations；
(2) machine code name, different equipment defines different code names to distinguish；
(3) instruction type, for representing this packet function to be performed by, can be with self-defining；
(4) data length, removes frame head, the data length after four bytes of postamble；
(5) subcommand, the subcommand class below instruction type, i.e. secondary command；
(6) subdata, user's side data of transmission；
(7) frame is verified, using CRC check, the end value after frame head to the data before CRC check value Jing after CRC calculating.
(8) postamble, is respectively 0xfd, 0xdf with two byte representations.
As shown in figure 9, data is activation is asked according to the transmission of interactive unit, according to user side data packet format by data group
Into burst of data bag, and the string data bag is gone out by wireless transmission, wait answer logo to receive, the time-out to be answered such as unlatching
Count.Data are resend if time-out count completes the answer logo mistake for not receiving answer logo or receiving, if receiving
Answer logo is correct, and has not timed out, then terminate this transmission.
As shown in Figure 10, data receiver is received and judges whether the byte is 0xfe after first character section, if it is
Second byte is continued to, judges that second byte is 0xef, frame head is correct, starts to preserve the valid data for receiving below,
And record the data length of reception.When the data for receiving are 0xfd, and the data that receive of the next one, when being 0xdf, expression is received
Whether postamble, the data end-of-packet, the length value for comparing length value in packet and receiving record is equal, if unequal,
Illustrate that data have loss in transmission process, the data of the packet are wrong, it is impossible to use.Show if both equal lengths
Data packet length is correct, then calculates check value by CRC, the CRC check value contrast in the check value and packet for calculating, if
It is equal, illustrate that data are correct, if, illustrate data in transmission process due to other reasonses error, the packet is unavailable,
Request resends.Correct answer logo is returned if inspection is correct if the data for receiving, otherwise returns the response of mistake
Mark, request transmitting terminal resends data, it is ensured that the data for communicating each time are all correct.
It is instruction type in table 2.
Table 2
| Instruction class offset | Definition |
| 0x01 | User side 1 (mobile phone pad) sends out reading order |
| 0x02 | User side 2 (action simulation device) sends reading order |
| 0x03 | User side 3 (Pc configuration softwares) sends reading order |
| 0x04 | User side 1 (mobile phone pad) sends writing commands |
| 0x05 | User side 2 (action simulation device) sends writing commands |
| 0x06 | User side 3 (PC configuration softwares) sends writing commands |
| 0x07 | User side 1 (mobile phone pad) sends control command |
| 0x11 | Main control unit to user side 1 (mobile phone pad) feeds back read command result |
| 0x12 | Main control unit to user side 2 (action simulation device) feeds back read command result |
| 0x13 | Main control unit to user side 3 (PC configuration softwares) feeds back read command result |
| 0x14 | Main control unit to user side 1 (mobile phone pad) feeds back write order result |
| 0x15 | Main control unit to user side 2 (action simulation device) feeds back write order result |
| 0x16 | Main control unit to user side 3 (PC configuration softwares) feeds back write order result |
| 0x17 | Main control unit is to user side 1 (mobile phone pad) feedback control command result 1 |
| 0x18 | Main control unit is to user side 1 (mobile phone pad) feedback control command result 2 |
| 0x19 | Main control unit is to user side 1 (mobile phone pad) feedback control command result 3 |
It is subcommand type in table 3.
Table 3
| Subcommand types value | Definition |
| 0x01 | Robotary updates |
| 0x02 | It is static |
| 0x03 | Freely move about |
| 0x11 | Inquiry robot information |
| 0x12 | Query actions performance element information |
| 0x13 | Inquiry sink-float module information |
| 0x14 | Query communication error rate |
| 0x21 | Real-time action performance element is controlled |
| 0x31 | Write elemental motion combination |
| 0x32 | Test elemental motion combination |
| 0x33 | Write user configuring data |
| 0x34 | Erasing order flash |
| 0x35 | IAP upgrade commands |
| 0x36 | User configuring reads |
| 0x37 | Action command reads |
| 0x38 | Setting action execution unit absolute position |
| 0x39 | Setting robot freedom of entry pattern |
| 0x3A | Robot is set to enter idle condition |
| 0x41 | Robot error code |
| 0x41 | Equipment is set to enter programming pattern |
| 0x42 | Main control unit is set to enter programming pattern |
Preferably, sensing unit communication is transmitted using bus communication protocol.A data knot defined in sensing unit
Structure body struct { data1；data2；data3；data4；data5；data6；data7；data8}；Data structure the inside has 8
The data of individual byte respectively sense numerical value A+ sensing numerical value B+ fault bits+preferential power and position+instruction+reserved place A+ sensing reserved places
B+ senses reserved place C, and in different sensing units, the meaning represented by each byte is also different：
(1) sonar sensor：The distance of data1 byte representations sonar measurement；The electric current of data2 byte representation sonars；
The fault message of data3 byte representation sonar modules；Data4 represents the ID of sonar module；Data5 represents order, data6,
Data7, data8 are reserved.
(2) video sensor：The color of data1 byte representation images；The brightness of data2 byte representation images；Data3 words
Section represents the fault message of video module；Data4 represents the ID of video module；Data5 represents order, data6, data7,
Data8 is reserved.
(3) ultrasonic distance-measuring sensor：The most-significant byte of data1 byte representation measured distances；Data2 byte representations represent real
Find range from least-significant byte；The fault message of data3 byte representation ultrasonic wave modules；Data4 represents the ID of ultrasonic wave module；data5
Order is represented, data6, data7, data8 is reserved.
(4) infrared distance sensor：The most-significant byte of data1 byte representation measured distances；Data2 byte representations represent actual measurement
The least-significant byte of distance；The fault message of data3 byte representation infrared modules；Data4 represents the ID of infrared module；Data5 represents life
Order, data6, data7, data8 is reserved.
(5) Temperature and Humidity sensor：Data1 byte representation measurement temperature values；Data2 byte representations represent measurement humidity
Value；The fault message of data3 byte representation humiture modules；Data4 represents the ID of humiture module；Data5 represents order,
Data6, data7, data8 are reserved.
Preferably, action execution unit communication is transmitted using bus communication protocol.One defined in action execution unit
Individual data structure struct { data1；data2；data3；data4；data5；data6；data7；data8}；Data structure
The data that there are 8 bytes body the inside are respectively the preferential power and positions of action executing numerical value A+ action executing numerical value B+ action executing numerical value C+
+ fault bit+instruction+action executing reserved place A+ action executing reserved place B, in different action execution units, each byte
Represented meaning is also different：
(1) steering wheel performing module：Data1 represents the angle of steering wheel；Data2 represents the speed of steering wheel；Data3 represents steering wheel
Electric current；Data4 represents the ID of steering wheel module；Data5 represents order, and data6 represents the fault message of steering wheel, data7,
Data8 is reserved.
(2) servomotor performing module：Data1 represents the angle of servomotor；Data2 represents the speed of servomotor；
Data3 represents the electric current of servomotor；Data4 represents servomotor module I D；Data5 represents order, and data6 represents servo electricity
The fault message of machine, data7, data8 is reserved.
(3) stepper motor module：Data1 represents the angle of stepper motor；Data2 represents the speed of stepper motor；data3
Represent the electric current of stepper motor；Data4 represents the ID of stepper motor module；Data5 represents order, and data6 represents stepper motor
Fault message, data7, data8 reserve.
As illustrated in figs. 11-14, in bus free, all of action execution unit (sensing unit) can send number
According to the first acquisition control for accessing at first.In bus protocol, all of message is all sent with fixed form.Bus free
When, all action execution units (sensing unit) being connected with bus can start to send new information.Plural action
When performance element (sensing unit) starts simultaneously at transmission message, priority is determined according to identifier ID.ID is not to represent to send
Destination address, but represent access bus message priority.It is right when plural unit starts simultaneously at transmission message
Each position of each message id is arbitrated one by one compares.The unit of arbitration triumph (being judged as highest priority) can continue to send
Message, the unit for arbitrating failure then stops at once sending and carrying out reception work.When main control unit and action execution unit (sensing
Unit) at the same send information when, main control unit send priority highest, action execution unit (sensing unit) stop send, turn
And enter and receive the command status that main control unit sends, decision instruction ID is this action execution unit (sensing unit)
ID, is to receive director data, otherwise abandons command reception.When multiple action execution units (sensing unit) while the information of transmission
When, each position of each message id is arbitrated one by one and is compared.The action executing of arbitration triumph (being judged as highest priority)
Unit (sensing unit) can continue send feedback information to main control unit, arbitrate the action execution unit (sensing unit) of failure then
Stop at once sending and entering reception state, receive the instruction that main control unit sends.
Bus may determine that the type for making mistake is error in data (such as external noise) temporary transient in bus or continues
Error in data (such as unit internal fault, driver malfunction, broken string).Thus function, wrong when there is duration data in bus
Mistake, the unit for causing this failure can be isolated away from bus.Bus is can be while connect the bus of multiple units.Can be even
The unit sum for connecing theoretically does not have conditional.But actually attachable unit number is by the time delay in bus and electrically
The restriction of load.Communication speed is reduced, attachable unit number increases；Communication speed is improved, then attachable unit number is reduced.
Main action execution unit (sensing unit) presses the packet of structure definition during communication, by the communication party of bus
Formula, in data transfer to bus, bus filter from action execution unit (sensing unit) of the carry in bus can be certainly
Dynamic to recognize ID non-master action execution units (sensing unit) included in the Frame, the packet can be filtered, no longer connect
Receive data below.If filter identifies that frame data ID is this main action execution unit (sensing unit), receive whole
Frame data, parse the command functions in packet, and phase is performed according to command code and data from action execution unit (sensing unit)
The action answered, and feedback information is needed to feed back to main control unit.
The present invention is provided based on the robot development system framework of modular platform, including the sensing controlled by main control unit
Unit, action execution unit, interactive unit, described main control unit includes initialization module, instruction interaction module, information exchange
Module, action executing module；Described initialization module initialization action performance element parameter and system variable in main control unit
Parameter；Described instruction interaction module receives interactive unit and instructs and be compiled into action command；Described information exchange module is adopted
Collection sensing unit data；Described action executing module performs described action command.Logical construction of the present invention is ingenious, modularization
Degree is high, using consistent communication standard, unifies the communication protocol of each sensing unit, action execution unit and main control unit, from
And be convenient for people to carry out research and development to robot based on this platform architecture.
The above, only presently preferred embodiments of the present invention not makees any pro forma restriction to the present invention；It is all
The those of ordinary skill of the industry can shown in by specification accompanying drawing and the above and swimmingly implement the present invention；But, it is all
Those skilled in the art are done in the range of without departing from technical solution of the present invention using disclosed above technology contents
A little change, modification and the equivalent variations for developing for going out, are the Equivalent embodiments of the present invention；Meanwhile, it is all according to the present invention's
Change, modification and differentiation of any equivalent variations that substantial technological is made to above example etc., still fall within the skill of the present invention
Within the protection domain of art scheme.
Claims (15)
1. based on modular platform robot development system framework, including main control unit, sensing unit, action execution unit,
Interactive unit, it is characterised in that：Described sensing unit, action execution unit, interactive unit is by main control unit control；User is led to
Described interactive unit input instruction is crossed to main control unit, sensing unit sensing external signal is transmitted to main control unit, master control list
Unit processes and generates the instruction of the described action execution unit of control, described action execution unit execute instruction；Described biography
Sense unit, communicating between action execution unit, interactive unit and main control unit adopts interactive communication, described each interactive communication
Communication protocol is consistent.
2. the robot development system framework based on modular platform according to claim 1, it is characterised in that：Described
Robot development system framework based on modular platform also includes special action performance element；Described special action performs list
Unit, sensing unit, action execution unit, it is designed with feedback unit in interactive unit；Described feedback unit connects with main control unit
Connect, for main control unit feedback information is provided.
3. the robot development system framework based on modular platform according to claim 1, it is characterised in that：Described
Interactive unit includes the interaction of PC ends, mobile terminal interaction, the interaction of action simulation device；Described PC ends interaction, mobile terminal interaction all with
Cloud Server connects；Described interactive unit adopts wireless transparent transmission with the transmission means of main control unit；Described mobile terminal interaction
Including interactive voice, intelligent object, action recognition interaction, expression recognition interaction, action simulation interaction.
4. the robot development system main control unit of modular platform, including initialization module, instruction interaction module, information are based on
Interactive module, action executing module, it is characterised in that：Described initialization module initialization action performance element parameter and master control
System variable parameter in unit；Described instruction interaction module receives interactive unit and instructs and be compiled into action command；Described
Information exchange module gathers sensing unit data；Described action executing module performs described action command；Described is initial
Change module highest priority in main control unit.
5. the robot development system main control unit based on modular platform according to claim 4, it is characterised in that institute
The initialization module stated is comprised the steps of：Hardware initialization, equipment initialization, system global variables initialization, creation module
Task.
6. the robot development system main control unit based on modular platform according to claim 4, it is characterised in that institute
The initialization module stated also is comprised the steps of：Main power source is opened, output version information, user configuring are loaded, opened in clock
Disconnected, open system multitask switching, early warning alarm cycle.
7. the robot development system main control unit based on modular platform according to claim 4, it is characterised in that institute
The instruction interaction module stated is comprised the steps of：Wait instruction, interrupt detection, selection instruction type.
8. the robot development system main control unit based on modular platform according to claim 4, it is characterised in that institute
The instruction interaction module stated also is comprised the steps of：Specification of variables and initialization, instruction check, transmission feedback message.
9. the robot development system main control unit based on modular platform according to claim 4, it is characterised in that institute
The information exchange module stated is comprised the steps of：Sample frequency, sensing unit sampling, query actions performance element information are set.
10. the robot development system main control unit based on modular platform according to claim 4, it is characterised in that
Described information exchange module is also comprised the steps of：The initialization of task internal variable, filtering, threshold decision, statistics cycle-index,
Obtain device signal, judge information to mistake.
The 11. robot development system main control units based on modular platform according to claim 4, it is characterised in that
Described action executing module is comprised the steps of：Type of action judges, operating state judges, sending action is instructed, it is dynamic to perform
Instruct.
The 12. robot development system main control units based on modular platform according to claim 4, it is characterised in that
Described action executing module is also comprised the steps of：Initialization of variable, action synchronously judge, action time-out judges, action is followed
Ring judges, updates robotary, false judgment, deletes action command.
The 13. robot development system main control units based on modular platform according to claim 4, also including free shape
Morphotype block, debugging test module, it is characterised in that：Described free state module is robot control when no interactions unit is operated
Module；Described debugging test module is used for debugging maintenance.
The 14. robot development system main control units based on modular platform according to claim 13, it is characterised in that
Described free state module is comprised the steps of：Idle condition judges, setting contextual model, contextual model judge (to perform feelings
Scape pattern), free state mode decision, generate random number judge perform probability, perform random action.
The 15. robot development system main control units based on modular platform according to claim 13, it is characterised in that
Described free state module is also comprised the steps of：Initialization of variable, delay adjustmentses, judge user configuring, avoidance judge (hold
Row avoidance).
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