CN106182027B - A kind of open service robot system - Google Patents
A kind of open service robot system Download PDFInfo
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- CN106182027B CN106182027B CN201610623037.9A CN201610623037A CN106182027B CN 106182027 B CN106182027 B CN 106182027B CN 201610623037 A CN201610623037 A CN 201610623037A CN 106182027 B CN106182027 B CN 106182027B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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Abstract
The present invention relates to a kind of open service robot systems, including expansible human-computer interaction terminal, expansible intelligent robot system and function device；Expansible human-computer interaction terminal sends service request packet for receiving user input data, to expansible intelligent robot system wireless, and receives the task action result of expansible intelligent robot system feedback；Expansible intelligent robot system is used to receive the service request packet that expansible human-computer interaction terminal is sent, and by service request Packet analyzing at corresponding function command collection, issues task control instruction, and the implementing result that receive capabilities equipment returns to function device；Function device is used to receive the task control instruction that expansible intelligent robot system issues, and to expansible intelligent robot system return instruction implementing result.System solves the problem the not strong problems of existing service robot system versatility, are conducive to long term evolution and the increment of product.
Description
Technical field
The present invention relates to intelligent robot technology fields, more particularly to a kind of open service robot system.
Background technique
As China's labor cost increasingly increases, the aggravation of social senilization's degree, service robot again goes into people
The visual field.
Current service robot product mainly for home services, commerce services, help the elderly and help the disabled and other special industries,
People it is expected its technology very high.But with regard to the service robot lead-time from the point of view of, key technology degree of being practical not enough,
Sensor die block cost is too high, these seriously constrain growing in strength for current service Robot industry.Although service robot
Become the hot spot that capital is chased in recent years, but more investors and research and development institution are still in and look around and attempt state.
Different from the consumer electronics products such as mobile phone, computer, existing service robot is difficult to form a set of unified rule
Model and platform, and in current existing service robot control system, the architecture of service robot all exists general
Property on deficiency, and this problem has influenced service robot technical research development, on the market existing server
Rare expansible, the scalable interface of device people's product, is unfavorable for long term evolution and the increment of product.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of open service robot systems, by expansible
Increase extensive interface in human-computer interaction terminal and expansible intelligent robot system to support system compatibility, guarantees service
Robot carries out Function Extension in original hardware platform；By introducing cloud computing technology, incorporates intelligent terminal manufacturing industry, calculates
Machine hardware manufacturing, computer software service trade, Telecom Operators, Internet service industry technological achievement, be conducive to mainstream letter
Breath industry supports the technology and resource of this product, becomes the novel economizer growth point in each industry.
The technical scheme to solve the above technical problems is that a kind of open service robot system, including can
The human-computer interaction terminal of extension, expansible intelligent robot system and function device；
The expansible human-computer interaction terminal is for receiving user input data, to the expansible intelligent robot
System wireless sends service request packet, and receives the task action result of the expansible intelligent robot system feedback；
The expansible intelligent robot system is used to receive the service that the expansible human-computer interaction terminal is sent
It is required that packet, by the service request Packet analyzing at corresponding function command collection, Xiang Suoshu function device issues task control instruction,
And receive the implementing result that the function device returns；
The function device is used to receive the task control that the expansible intelligent robot system issues and instructs, and to
The expansible intelligent robot system return instruction implementing result.
The beneficial effects of the present invention are: the system is by expansible human-computer interaction terminal to expansible intelligent robot
System wireless sends service request packet, and expansible intelligent robot system is by service request Packet analyzing at corresponding function command
Collection issues task control instruction to function device, which allows service robot flexible configuration, can be according to the difference of user
Demand selects corresponding function device to be conducive to produce to solve the problems, such as that existing service robot system versatility is not strong
The long term evolution of product and increment, the rolling after the investor can not only being allowed to see capital input, which is appreciated, to be expected, and user is allowed to see
The function upgrading of product is expected, more mainstream information industry can be allowed to see new profit growth point.
Based on the above technical solution, the present invention can also be improved as follows.
Further, the expansible human-computer interaction terminal include function application module, expansible application interface module and
Task assignment module, the task assignment module receives the function application module respectively and expansible application interface module is sent
Functional application and form service request packet；The function application module includes person recognition unit, map unit, voice
Dialog unit, makes an inspection tour unit, assistant's unit, remote operating unit and amusement unit at guide unit.
Beneficial effect using above-mentioned further scheme is to increase expansible application in expansible human-computer interaction terminal
Interface module supports system compatibility, guarantees that service robot carries out Function Extension in original hardware platform.
Further, the expansible intelligent robot system include receive service request packet task Understanding Module and with
The local intelligent computation module and cloud computing component that the task Understanding Module calls respectively, and calculated with the local intelligent
The management kernel that component, cloud computing component and task Understanding Module call jointly, and the device drives mould of management kernel calls
Block；
The task Understanding Module returns to task action result, the local intelligence to the expansible human-computer interaction terminal
Can computation module to task Understanding Module return to local intelligent algorithm calculated result, the cloud computing component is to task Understanding Module
The calculated result of cloud service platform is returned to, the management kernel executes knot to local intelligent computation module, the return of cloud computing component
Fruit, the device driver module return to the function device implementing result to management kernel.
Further, the local intelligent computation module includes expansible local computing interface module and local computing module,
The local computing module includes map constructing unit, driving trace planning unit, manipulator motion trajectory planning unit, machine
Visual unit and multi-machine collaborative unit；
The cloud computing component includes speech recognition module, face recognition module and expansible cloud computing interface module；
The device driver module includes expansible standard device interface driver unit and local device driving unit, described
Local device driving unit includes chassis driving, mechanical arm driving, Position and attitude sensor driving, vision driving, audio driven, warm and humid
Degree driving and wireless communication driving.
Beneficial effect using above-mentioned further scheme is to increase expansible in expansible intelligent robot system
Ground calculates interface module and expansible cloud computing interface module to support system compatibility, guarantees service robot original soft or hard
The newly-increased intelligent algorithm calculated from local computing and cloud of part platform；By introducing cloud computing technology, enhancing its intelligence
It keeps being connected with mainstream information industrial chain simultaneously, so that service robot is no longer a simple electronic product, but one
It is related to intelligent terminal manufacturing industry, computer hardware manufacturing, computer software service trade, Telecom Operators, Internet service
The comprehensive product of industry.
Further, the management kernel includes computer operating system, mechanism kinematic management module and device abstract module；
The device abstract module is called in the form of unified interface for computer operating system and mechanism kinematic management module.
Beneficial effect using above-mentioned further scheme is that the mature and good computer operating system of compatibility is drawn
Enter robot core software systems, the compatibility and scalability that ensure that robot function fundamentally, meanwhile, device abstract
The otherness of module shield underlying device driving, the separation of upper layer software (applications) and underlying device is realized with unified access interface,
Carry out convenient for upper layer software (applications) exploitation and the independent of function device exploitation.
Further, the mechanism kinematic management module includes behavior safety control unit, real-time control unit.
Use above-mentioned further scheme beneficial effect be to avoid robot behavior security risk, issue instruction before by
Behavior safety control unit compares assessment to movement target and the result of the action, forbids endangering personal safety and destroys surrounding
The behavior of environment, meanwhile, motion control instruction and the other instruction priority of control system are adjusted by real-time control unit,
For guaranteeing the real-time control and feedback of movement mechanism.
Further, the function device includes local device and expansible standard device interface, and the expansible standard is set
Standby interface uses serial ports RS232/485, USB interface, Ethernet interface and blue tooth interface；The local device includes chassis control
Device, mechanical arm controller, Position and attitude sensor, visual sensor, Mike's air horn, Temperature Humidity Sensor and wireless communication unit.
Beneficial effect using above-mentioned further scheme is to enrich the capacity of robot by integrating local device
With environment sensing ability, meanwhile, according to user to the different demands of performance, it is corresponding that it is connected by expansible standard device interface
Function device, realize robot flexible configuration, rolling after the investor can not only being allowed to see capital input, which is appreciated, to be expected, and
And the function upgrading for allowing user to see product is expected, more mainstream information industry can be allowed to see new profit growth point.
Further, the task control instruction issued to function device includes at least bobbin movement instruction, mechanical arm fortune
Dynamic instruction, Position and attitude sensor acquire pose data command, visual sensor acquires video instructions, microphone acquires audio instructions,
Temperature Humidity Sensor acquires temperature and humidity instruction, wireless communication unit sends one of data command.
Beneficial effect using above-mentioned further scheme is that the function device connected according to service robot issues accordingly
Control instruction.
Further, the intelligent robot system return instruction implementing result expansible to service is at least chassis control
Device implementing result, mechanical arm controller implementing result, pose parameter, video, audio, wireless communication unit send state or reception
One of data.
Beneficial effect using above-mentioned further scheme is that the function device implementing result of connection is fed back to service to expand
The intelligent robot system of exhibition.
Further, the user input data is at least one of video data, audio data, touch signals.
Detailed description of the invention
Fig. 1 is present system schematic diagram；
Fig. 2 is expansible human-computer interaction terminal what's new applicating flow chart；
Fig. 3 is expansible human-computer interaction terminal task assignment module work flow chart；
Fig. 4 is expansible intelligent robot system task Understanding Module work flow diagram；
Fig. 5 is that expansible intelligent robot system increases local intelligent computing module work flow diagram newly；
Fig. 6 is that expansible intelligent robot system increases cloud computing module work flow chart newly；
Fig. 7 is the mechanism kinematic management module work flow diagram of expansible intelligent robot system；
Fig. 8 is expansible intelligent robot system newly added equipment flow chart.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
It is as shown in Figure 1 present system schematic diagram, it can in order to solve that existing service robot product is rare on the market
The problem of extending, scalable interface, being unfavorable for long term evolution and the increment of product, the present invention provides a kind of open service machines
Device people's system, the system are expansible by increasing in expansible human-computer interaction terminal and expansible intelligent robot system
Interface module supports system compatibility, guarantees that service robot carries out Function Extension in original hardware platform；By introducing cloud
Computing technique keeps being connected, so that service robot is no longer one while enhancing its intelligence with mainstream information industrial chain
Simple electronic product, but one is related to intelligent terminal manufacturing industry, computer hardware manufacturing, computer software service
Industry, Telecom Operators, Internet service industry comprehensive product, allow service robot flexible configuration, can be according to user couple
The different demands of performance select the product of different cost configurations, and the rolling after the investor can not only being allowed to see capital input is appreciated pre-
Phase, and the function upgrading for allowing user to see product is expected, more mainstream information industry can be allowed to see new profit growth point.
The open service robot that the present invention refers to includes that chassis, control cabinet, mechanical arm, battery and some functions are set
It is standby；Control cabinet is the control core of robot, is mounted with that a built-in industrial control machine and battery, industrial personal computer run expansible
Intelligent robot system, battery provide power supply to other components；Mechanical arm, chassis and other function devices are connect by standard device
Mouth access built-in industrial control machine；User installs expansible human-computer interaction terminal on smart phone or tablet computer, can pass through
APP and robot carry out human-computer interaction, can also carry out human-computer interaction by voice mode and robot.
A kind of open service robot system of the invention, including expansible human-computer interaction terminal, expansible machine
Device people intelligence system and function device；Expansible human-computer interaction terminal is for receiving user input data, to expansible
Intelligent robot system wireless sends service request packet, and receives the task execution knot of expansible intelligent robot system feedback
Fruit, wherein user input data is at least one of video data, audio data, touch signals；Expansible robot intelligence
Energy system is used to receive the service request packet that the expansible human-computer interaction terminal is sent, by service request Packet analyzing at correspondence
Function command collection, Xiang Suoshu function device issue task control instruction, and receive capabilities equipment return implementing result；Function
Equipment is used to receive the task control instruction that expansible intelligent robot system issues, and to expansible intelligent robot system
System return instruction implementing result.
Expansible human-computer interaction terminal includes function application module, expansible application interface module and task assignment mould
Block, task assignment module distinguish the functional application of receive capabilities application module and the transmission of expansible application interface module and form clothes
Business requires packet, wherein function application module includes person recognition unit, map unit, voice dialogue unit, guiding list
Member, tour unit, assistant's unit, remote operating unit and amusement unit, particular content are as follows:
1. person recognition unit finds human target and follows the target mobile, convenient for being interacted at any time with user, root
According to the sensor type installed on chassis, it can choose visual sensor and carry out image detection, also can choose and target is carried
RFID label tag carry out radio-frequency signal detection, and the other detection modes of selection；
2. map unit informs that service robot detects local environment, creates environmental map and record one
A little key position points can choose visual sensor and carry out image detection according to the sensor type installed on chassis, can also be with
Laser radar is selected to carry out laser scanning, and the other detection modes of selection；
3. voice dialogue unit carries out man-machine answer, information exchange with user.The function can be embedded into expansible people
Machine interactive terminal is interacted using the included voice pickup model of smart phone or tablet computer, can also be independently on chassis
Upper installation microphone and loudspeaker are directly interacted with robot by user；
4. guide unit recognizes user demand, guidance user to some destination by human-computer interaction.According on chassis
The sensor type of installation can choose visual sensor and carry out destination images match, also can choose to destination RFID
Label carries out radiofrequency signal matching, it is also an option that laser radar carries out destination characteristic matching, and the other match parties of selection
Formula；
5. making an inspection tour unit, travelled back and forth according to user's fixed route, and video along the line is passed to the expansible of user
Human-computer interaction terminal.According to the sensor type installed on chassis, transmission environment temperature and humidity, air pressure, wind speed etc. can choose
Information；
6. assistant's unit completes a certain task that user specifies by movement mechanisms such as mechanical arm, chassis, for example praises weight
Object etc. is taken in object, water.To configure the function, need that the aiding sensors such as vision, range finder are installed on the robotic arm；
7. remote operating unit, user can remotely be controlled service robot by expansible human-computer interaction terminal,
Pass through video detecting real-time surrounding enviroment；
8. amusement unit, user can carry out game by expansible human-computer interaction terminal and service robot；
9. expansible application interface module, the appointment function integrated approach in the form of plug-in unit are answered to add what's new
With, the equipment for needing to install the support function on service robot chassis, and pacify in expansible intelligent robot system
The device driver is filled, what's new applicating flow chart is illustrated in figure 2, expansible application interface module inquires task first
Whether the expansible intelligent robot system of assignment module is mounted with new equipment, if being mounted with new equipment, the what's new
Using applying successfully, otherwise, application failure.
10. task assignment module is illustrated in figure 3 task assignment module workflow, first with expansible robot intelligence
Energy system establishes connection, forms service request packet in the functional application that expansible human-computer interaction terminal selects according to user, and
The requirement is packaged into service request packet according to private communication protocol, is finally assigned to the expansible intelligent robot system of lower layer
Task Understanding Module, and receive the implementing result of the system feedback.
Expansible intelligent robot system is robot control core, is together constituted with the computer for running the system
Robot brain.Expansible intelligent robot system includes wireless communication unit, by wireless communication unit and expansible
Human-computer interaction terminal connection.For convenient for obtain underlying device driver, guarantee system function compatibility and scalability, it is expansible
Intelligent robot system software be mounted in common computer operations system, such as linux system, Windows system.This is
System includes the task Understanding Module and the local intelligent calculating group called respectively of the task Understanding Module for receiving service request packet
The pipe that part and cloud computing component and the local intelligent computation module, cloud computing component and task Understanding Module call jointly
Kernel, and the device driver module of management kernel calls are managed, the task Understanding Module is to expansible human-computer interaction terminal
Task action result is returned, the local intelligent computation module returns to local intelligent algorithm calculated result to task Understanding Module,
The cloud computing component returns to the calculated result of cloud service platform to task Understanding Module, and the management kernel is to local intelligent meter
Component, cloud computing component return bottom software and hardware implementing result are calculated, the device driver module returns to bottom function to management kernel
It can equipment running status.Wherein, the task control instruction issued to function device is at least bobbin movement instruction, manipulator motion
Instruction, Position and attitude sensor acquisition pose data command, visual sensor acquisition video instructions, microphone acquire audio instructions, temperature
Humidity sensor acquires temperature and humidity instruction, wireless communication unit sends one of data command；To expansible robot intelligence
Can system return instruction implementing result be at least chassis controller implementing result, mechanical arm controller implementing result, pose parameter,
Video, audio, wireless communication unit send state or received data.
It is as follows that it services expansible intelligent robot system particular content:
1) task Understanding Module, if Fig. 4 be task Understanding Module workflow, first with expansible human-computer interaction terminal
Connection is established, the service request Packet analyzing that expansible human-computer interaction terminal is assigned is instructed at function instruction set, then these
Collection is assigned to local intelligent computation module, cloud computing component and management kernel, and task action result is finally fed back to task again
Assignment module.
2) local computing component handles, needs the intelligent algorithm of quick response, including this suitable for local computer resource
Ground calculates interface module, and wherein local computing interface module includes map constructing unit, driving trace planning unit, mechanical arm fortune
Dynamic rail mark planning unit, machine vision unit and multi-machine collaborative unit；In addition, there are also expansible local computing interface modules, just
In the other intelligence computation methods of increase, wherein
1. expansible local computing interface module arranges the access side that local intelligent calculates in the form of function command collection
Method, for increase newly local intelligent calculation method, need realization code to be packaged into function command collection for task Understanding Module access,
It is illustrated in figure 5 the process of newly-increased local intelligent computing module, needs to access management kernel, if local system resource is supported to be somebody's turn to do
Application, then apply for success, otherwise, application failure.
2. map constructing unit, using sensor detection environmental characteristic create map, for subsequent autonomous traveling provide according to
According to.The classic algorithms such as SLAM can be used in specific implementation, support the map unit of expansible human-computer interaction terminal, guiding single
Member makes an inspection tour the functional applications such as unit, assistant's unit；
3. driving trace planning unit arranges global and local traveling road using the posture information that map and sensor detect
Diameter, and avoiding obstacles under steam.Specific implementation has the dynamic window of the A* algorithm of global path planning, local paths planning
Method (DWA) etc. supports the guide unit of expansible human-computer interaction terminal, makes an inspection tour the functional applications such as unit, assistant's unit；
4. manipulator motion trajectory planning unit, the mechanical arm each unit posture arrangement campaign rail detected using sensor
Mark, and avoiding obstacles on the move.Specific implementation has the classics such as probability road sign method (PRM), Quick Extended random tree method (RRT)
Algorithm etc. supports the functional applications such as tour unit, the assistant's unit of expansible human-computer interaction terminal；
5. machine vision unit completes target identification etc. using the image information of visual sensor acquisition.Specific implementation has
Image characteristics extraction algorithm, image matching algorithm support the guide unit of expansible human-computer interaction terminal, make an inspection tour unit, help
The functional applications such as hand unit；
6. multi-machine collaborative unit calculates multirobot collaborative work strategy, the wireless telecom equipment for utilizing robot to carry
Self-organizing network is established, respective orientation and task are understood by interactive information.The classical routing such as AODV can be used in specific implementation
Algorithm supports the functional applications such as tour unit, the assistant's unit of expansible human-computer interaction terminal；
3) cloud computing component, the intelligent algorithm suitable for the processing of long-range cloud computing resources, comprising: speech recognition module, people
Face identification module, in addition, there are also expansible cloud computing interface module, convenient for increasing other cloud computing methods, wherein
1. expansible cloud computing interface module is arranged the access method of cloud computing in the form of function command collection, is newly-increased
Cloud computing method needs realization code to be packaged into function command collection for the access of task Understanding Module, is illustrated in figure 6 newly-increased
The process of cloud computing method needs to access management kernel, if cloud service platform supports this application, applies for success, otherwise, Shen
It please fail.
2. the voice signal of acquisition is converted into the intelligible semanteme of robot by speech recognition module, using comparing into
Ripe cloud computing platform improves the accuracy and environment fitness of identification, supports the voice dialogue of expansible human-computer interaction terminal
The functional applications such as unit, assistant's unit.
3. the facial image feature of acquisition is mapped, using comparative maturity by face recognition module with specific personage
Cloud computing platform improve identification accuracy and environment fitness, support expansible human-computer interaction terminal guide unit,
The functional applications such as assistant's unit.
4) kernel is managed, robot software and hardware resources are managed, shields bottom hardware difference, comprising: computer behaviour
Make system, mechanism kinematic management module and device abstract module, wherein
1. computer operating system is management kernel optimized integration, reliability, stability, standard and compatibility are
Reliability services, hardware compatibility, the long expansion of service robot provide the foundation.Specifically optional Linux, Windows etc..
2. mechanism kinematic management module, the chassis of service robot and mechanical arm are the special installations for having motor function,
Traditional computer operating system is managed by conventional equipment, lacks safety and real-time constraint, mechanism kinematic management pair
It is analyzed before this kind of special installation execution movement, and carries out movement limitation based on the analysis results.
As shown in fig. 7, to avoid service robot behavior safety risk, it is single by behavior safety control before issuing instruction
Member compares assessment to movement target and the result of the action, forbids endangering personal safety and destroys the behavior of ambient enviroment, if
Assessment result is safety, then adjusts motion control instruction by behavior real-time control unit and the other instructions of system are preferential
Grade, with guarantee movement mechanism it is real-time execution and feedback, if assessment result be it is dangerous, forbid the instruction.
3. device abstract module, device abstract module shield bottom hardware equipment difference are computer operating system and machine
Structure Sport Administration module provides unified equipment access interface.
5) device driver module, device driver module are the bottom hardware equipment access schemes of differentiation, in a software form
It is embedded in computer operating system, provides the input output method of signal or data for the various service function realizations in upper layer, wrap
Expansible standard device interface driver unit and local device driving unit are included, the local device driving unit includes that chassis is driven
Dynamic, mechanical arm driving, Position and attitude sensor driving, vision driving, audio driven, temperature and humidity driving and wireless communication driving.
After device Drivers structure design driven according to computer operating system agreement, new function can be increased and set
Standby, Fig. 8 is that newly added equipment drives process, and system registry new equipment, whether inquiry new equipment is installed, if new equipment has been installed,
It is then new equipment distributing system resource, new equipment succeeds in registration；If new equipment is not installed, new equipment registration failure.
Function device includes local function equipment and expansible standard device interface, wherein local function equipment includes
Chassis controller, mechanical arm controller, Position and attitude sensor, visual sensor, Mike's air horn, Temperature Humidity Sensor and channel radio
Believe unit, function device receives the task control instruction that expansible intelligent robot system issues and return instruction executes knot
Fruit.Wherein, expansible standard device interface is connect using common serial ports RS232/485, USB interface, Ethernet interface, bluetooth
Mouthful, system compatibility is kept under common computer operating system.
The present invention sends service to expansible intelligent robot system wireless by expansible human-computer interaction terminal and wants
Packet is sought, expansible intelligent robot system executes task according to service request packet transfer control instruction control function equipment, should
System allows service robot flexible configuration, corresponding function device can be selected according to the different demands of user, to solve
Existing service robot system versatility not strong problem, is conducive to long term evolution and the increment of product, can not only allow investment
Quotient sees that the rolling after capital input is appreciated and is expected, and the function upgrading for allowing user to see product is expected, can more allow mainstream
Information industry sees new profit growth point.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of open service robot system, which is characterized in that including expansible human-computer interaction terminal, expansible machine
Device people intelligence system and function device；
The expansible human-computer interaction terminal is for receiving user input data, to the expansible intelligent robot system
Service request packet is transmitted wirelessly, and receives the task action result of the expansible intelligent robot system feedback；
The expansible intelligent robot system is used to receive the service request that the expansible human-computer interaction terminal is sent
Packet, by the service request Packet analyzing at corresponding function command collection, Xiang Suoshu function device issues task control instruction, and connects
Receive the implementing result that the function device returns；
The function device is used to receive the task control instruction that the expansible intelligent robot system issues, and to described
Expansible intelligent robot system return instruction implementing result；
The expansible human-computer interaction terminal includes function application module, expansible application interface module and task assignment mould
Block；
The task assignment module receives the function that the function application module and expansible application interface module are sent respectively and answers
With and form service request packet；
The function application module includes person recognition unit, map unit, voice dialogue unit, guide unit, tour
Unit, assistant's unit, remote operating unit and amusement unit；
The expansible intelligent robot system includes receiving the task Understanding Module of service request packet and managing with the task
Solution module the local intelligent computation module and cloud computing component that call respectively, and with the local intelligent computation module, cloud meter
Calculate the management kernel that component and task Understanding Module call jointly, and the device driver module of management kernel calls；
The task Understanding Module returns to task action result, the local intelligent meter to the expansible human-computer interaction terminal
It calculates component and returns to local intelligent algorithm calculated result to task Understanding Module, the cloud computing component is returned to task Understanding Module
The calculated result of cloud service platform, the management kernel return to implementing result, institute to local intelligent computation module, cloud computing component
It states device driver module and returns to the function device implementing result to management kernel.
2. open service robot system according to claim 1, which is characterized in that the local intelligent computation module
Including expansible local computing interface module and local computing module, the local computing module includes map constructing unit, row
Sail trajectory planning unit, manipulator motion trajectory planning unit, machine vision unit and multi-machine collaborative unit；
The cloud computing component includes speech recognition module, face recognition module and expansible cloud computing interface module；
The device driver module includes expansible standard device interface driver unit and local device driving unit, the local
Device drives unit includes chassis driving, mechanical arm driving, Position and attitude sensor driving, vision driving, audio driven, temperature and humidity drive
Dynamic and wireless communication driving.
3. open service robot system according to claim 1, which is characterized in that the management kernel includes calculating
Machine operating system, mechanism kinematic management module and device abstract module；The device abstract module is in unified interface form in terms of
Calculation machine operating system and mechanism kinematic management module are called.
4. open service robot system according to claim 3, which is characterized in that the mechanism kinematic management module
Including behavior safety control unit, real-time control unit.
5. open service robot system according to claim 1, which is characterized in that the function device includes local
Equipment and expansible standard device interface, the expansible standard device interface use serial ports RS232/485, USB interface, ether
Network interface and blue tooth interface；The local device includes chassis controller, mechanical arm controller, Position and attitude sensor, visual sensing
Device, Mike's air horn, Temperature Humidity Sensor and wireless communication unit.
6. open service robot system according to claim 1, which is characterized in that it is described to function device issue
Task control instruction includes at least bobbin movement instruction, manipulator motion instruction, Position and attitude sensor acquisition pose data command, view
Feel that sensor acquisition video instructions, microphone acquisition audio instructions, the instruction of Temperature Humidity Sensor acquisition temperature and humidity, wireless communication are single
Member sends one of data command.
7. open service robot system according to claim 1, which is characterized in that described to expansible robot
Intelligence system return instruction implementing result is at least chassis controller implementing result, mechanical arm controller implementing result, pose ginseng
Number, video, audio, wireless communication unit send one of state or received data.
8. open service robot system according to claim 1, the user input data be at least video data,
One of audio data, touch signals.
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| CN106817144A (en) * | 2017-01-18 | 2017-06-09 | 上海洪洋通信科技有限公司 | Various dimensions robot system |
| CN106656706B (en) * | 2017-02-25 | 2020-06-19 | 华南理工大学 | Software bus-based service-oriented robot open control system and method |
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