CN116021533A - Mobile robot modularized architecture and method - Google Patents

Abstract

The application discloses a mobile robot modularized architecture and a mobile robot modularized method. A mobile robot modular architecture of the present application includes: an application layer, an algorithm layer and a hardware abstraction layer; the application layer comprises an action type and function module library, and is used for controlling the action type and function of the mobile robot; the algorithm layer comprises an algorithm module library, an action library and a subelement library; the hardware abstraction layer comprises a signal driving layer and a hardware layer, wherein the signal driving layer is used for generating a driving signal for driving hardware to work, and the hardware layer comprises robot hardware. The technical scheme utilizes the modularized program architecture and the modularized program method, can realize multiplexing of each functional module and each algorithm module, reduces repeated development, improves the reliability of a program algorithm, and can be widely applied to the field of mobile robots.

Description

Mobile robot modularized architecture and method

Technical Field

The application relates to the technical field of mobile robots, in particular to a mobile robot modularized architecture and a mobile robot modularized method.

Background

Mobile robots have various product forms, such as service robots, object-carrying robots, mobile operation robots and the like, and different mobile robots have different functional uses, but have a commonality to a great extent from the aspects of control methods and control algorithms, so that a software development method with modularization is required, and corresponding functions can be realized by means of combination of different modules according to different robot functional requirements, so that development time and development period are saved.

However, in the prior art, in many cases, different robots often re-develop control functions and algorithms, developed software does not have modularized characteristics, and many algorithms and functions cannot be reused and need to be re-developed, so that the defects of repeated development, long development period, poor stability of software algorithms and the like are caused.

Therefore, in practical situations, a new software development method is needed to reduce repeated development, shorten software development time, and improve stability of software algorithm and product.

Disclosure of Invention

Accordingly, embodiments of the present invention are directed to a mobile robot modular architecture, method.

In a first aspect, embodiments of the present invention provide a mobile robot modular architecture, method;

the application layer comprises an action type and function module library, and is used for controlling the action type and function of the mobile robot;

the algorithm layer comprises an algorithm module library, an action library and a subelement library;

the hardware abstraction layer comprises a signal driving layer and a hardware layer, wherein the signal driving layer is used for generating a driving signal for driving hardware to work, and the hardware layer comprises robot hardware.

In one embodiment, the action types include mobile walking and operating actions.

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In one embodiment, the algorithm modules in the algorithm module library are independent algorithm modules comprising at least one function, and the action and subelement library comprises basic function modules.

In one embodiment, the signal driving layer generates and processes driving signals and acquisition signals of the actuating mechanism and the sensor.

In one embodiment, the modules in the function module library are large function modules required by the mobile robot to move or operate, and when the large function modules are selected, a bottom layer algorithm where the large function modules are located is called; and then when the algorithm module library selects the algorithm module, the selected algorithm module is automatically called by the function module of the upper stage.

In one embodiment, a message layer is further included between the application layer and the algorithm layer, and the message layer configures a message layer management module, where the message layer management module is configured to manage communication and data interaction between modules of the algorithm layer, and upload messages of the modules of the algorithm layer to corresponding modules of the application layer.

In one embodiment, the architecture further comprises a robot control software module, wherein the robot control software module comprises a module kernel and content part, a module parameter extraction part and a module file header;

after the module number from the program interface is matched with the module number, the module writes the parameter value in the parameter value script file;

the script file extracts the numerical value to be returned to the program interface through analysis of the script interpreter, and the numerical value is read by the corresponding driver module to finally generate the robot hardware control instruction.

In a second aspect, an embodiment of the present invention provides a mobile robot modularization method, which is applied to the method in any of the previous embodiments, and includes:

after the module number from the program interface is matched with the module number, writing parameter values in the parameter value script file;

and extracting the numerical value to be returned to a program interface to generate a robot hardware control instruction.

In the modularized framework and the modularized method for the mobile robot, which are used in the embodiment of the invention, the modularized program framework and the modularized method are utilized to realize the multiplexing of each functional module and each algorithm module, reduce repeated development and improve the reliability of a program algorithm.

Additional optional features and technical effects of embodiments of the invention are described in part below and in part will be apparent from reading the disclosure herein.

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Drawings

Embodiments of the present invention will hereinafter be described in conjunction with the appended drawings, wherein like or similar reference numerals denote like or similar elements, and wherein:

FIG. 1 illustrates a modular software overall hierarchy of a mobile robot modular architecture according to an embodiment of the present invention;

FIG. 2 shows a block configuration diagram of a mobile robot modular architecture according to an embodiment of the present invention;

FIG. 3 illustrates a schematic diagram of inter-module data communication based on a messaging mechanism, in accordance with an embodiment of the present invention;

fig. 4 shows a schematic diagram of a robot control based on a message layer mechanism according to an embodiment of the invention.

Detailed Description

The present invention will be described in further detail with reference to the following detailed description and the accompanying drawings, in order to make the objects, technical solutions and advantages of the present invention more apparent. The exemplary embodiments of the present invention and the descriptions thereof are used herein to explain the present invention, but are not intended to limit the invention.

The term "comprising" and variations thereof as used herein means open ended, i.e., "including but not limited to. The term "or" means "and/or" unless specifically stated otherwise. The term "based on" means "based at least in part on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment. The term "another embodiment" means "at least one additional embodiment". The terms "first," "second," and the like, may refer to different or the same object. Other explicit and implicit definitions are also possible below.

Mobile robots have various product forms, such as service robots, object-carrying robots, mobile operation robots and the like, and different mobile robots have different functional uses, but have a commonality to a great extent from the aspects of control methods and control algorithms, so that a software development method with modularization is required, and corresponding functions can be realized by means of combination of different modules according to different robot functional requirements, so that development time and development period are saved.

However, under the condition of the prior art, many conditions are that different robots often re-develop control functions and algorithms, developed software does not have modularized characteristics, many algorithms and functions cannot be reused, and 2022122301-PCN222353I

The method has the defects of repeated development, long development period, poor stability of software algorithm and the like. For example, in the related art, the robot controller is connected to each driver of the robot through an industrial communication bus, and the robot controller sends control information to each driver; the robot controller is also connected with the robot crowd control system and used for realizing the transmission of the information related to the robot control with the robot crowd control system. This approach does not have modular features and is difficult to respond in time when dealing with complex demands.

Therefore, in practical situations, a new software development method is needed to reduce repeated development, shorten software development time, and improve stability of software algorithm and product.

In order to solve the problems, the application provides a mobile robot modularized architecture, a mobile robot modularized method, an electronic device and a storage medium. The purpose of the application is to provide a modularized software development method for mobile robot development, so as to solve the practical problems of long development time and repeated development in the robot software development. The application mainly discloses a modularized software development mode and a modularized mode for realizing software functions and algorithms, and by means of the modularized software, the software development speed and the software function stability of the robot can be greatly improved. It should be noted that, the robot referred to in the present application refers to an intelligent machine capable of semi-autonomous or fully autonomous operation, and is capable of performing tasks such as work or movement by programming and automatic control.

Fig. 1 shows a modular software overall hierarchy of a mobile robot modular architecture according to an embodiment of the invention. As shown in fig. 1, the present application proposes a mobile robot modular architecture, comprising: an application layer, an algorithm layer and a hardware abstraction layer; the application layer comprises an action type and function module library, and is used for controlling the action type and function of the mobile robot; the algorithm layer comprises an algorithm module library, an action library and a subelement library; the hardware abstraction layer comprises a signal driving layer and a hardware layer, wherein the signal driving layer is used for generating a driving signal for driving hardware to work, and the hardware layer comprises robot hardware.

The hardware abstraction layer of the present embodiment is an interface layer between the kernel of the operating system and the hardware circuit, and aims to extract the hardware features and the parameter interaction interface and perform abstract programming language expression. The hardware interface details of a specific platform are hidden, a virtual hardware platform is provided for an operating system, so that the operating system has hardware independence, and can be transplanted on various platforms. Wherein the hardware abstraction layer is a programming layer that allows the computer operating system to interact with the hardware device at the logic layer rather than the hardware layer. Either the operating system core or the hardware driver may invoke the hardware abstraction layer. In either case, the caller does not need to know the specific design details of the hardware, and only needs to give the parameters required by the abstraction layer.

As shown in FIG. 1, when the mobile robot is required to move, the type of the moving and walking actions is sent to a functional module library for navigation, obstacle avoidance and track tracking, and the navigation, obstacle avoidance and track 2022122301-PCN222353I is called

And a tracking function module. The navigation function module calls a laser algorithm 1 in the algorithm module library, then performs specific robot operations such as braking and the like in the action and subelement library, then sends out a driving signal at a signal driving layer of the hardware abstraction layer, the driving signal mainly comprises driving signals of a plurality of travelling wheels, and finally the travelling wheels of the hardware layer are driven by the driving signals to enable the mobile robot to walk. The above examples are merely for illustrating the calling relationship between the upper and lower modules, and in many cases, the upper module may be configured to call several lower modules to perform a certain function or a series of actions.

More, when it is necessary to control the robot to perform other operations (such as grabbing, picking, carrying, dragging, screwing, etc.), the signal transmission manner between the levels is as follows: the application layer receives related operation instructions, a tail end control module and a target control module in the function module library respectively call a tail end control algorithm module and a target image recognition algorithm module, the tail end control algorithm can control the robot to perform actions such as grabbing, and the target image recognition algorithm module can control the robot to recognize an operation target and output recognition data; then, the mechanical arm joint driving signal layer which receives the action command sends out a driving signal to drive the mechanical arm joint to work, so that the action of the robot is completed. On the other hand, the sensing data collected by the hardware abstraction layer of each sensor module can be called by the signal processing module of the upper layer, and the result data of the signal processing can be called by the module in the algorithm layer; the image partition module as illustrated in fig. 1 may invoke the visual signal processing 1 module from the next layer, and the visual signal processing 1 module may collect data from the visual sensor 1.

Specifically, the modularized software architecture of the technical scheme comprises three layers, namely an application layer, an algorithm layer and a hardware abstraction layer. The application layer comprises an action type and a function module library; the action types are divided into two types, namely mobile walking and operation action. The algorithm layer is divided into an algorithm module library and an action and subelement library, wherein the algorithm module library is an algorithm module capable of independently completing one function, such as a laser algorithm; visual algorithms, etc.; the action and subelement library module performs the most basic and more subdivided functions, such as a forward algorithm module, a steering algorithm module, and the like of the robot. The hardware abstraction layer is divided into a signal driving layer and a hardware layer, wherein the signal driving layer is a driving signal or a collecting signal and processing module of various action mechanisms, sensors and the like, and the hardware layer is various hardware of the robot.

As shown in fig. 1, a top-down hierarchical, modular software architecture. Arrow connections are shown as examples of algorithm modules selected during software programming. Each box represents a module. And during programming, selecting corresponding modules according to the functions of the robot from top to bottom. Each module in the functional module library shown in the figure is a large functional module required by the mobile robot to move or operate, and when a certain large functional module is selected, the algorithm of the bottom layer where the module is located is called; then at the next layer, algorithm model 2022122301-PCN222353I

When a block library selects a certain module, the selected algorithm module is automatically called by a higher-level function module according to the arrow connection.

It should be noted that, the algorithm modules in the algorithm module library in this embodiment are independent algorithm modules including at least one function, and the action and subelement library includes a basic function module.

The modules in the function module library are large function modules required by the mobile robot to move or operate, and when the large function modules are selected, a bottom layer algorithm where the large function modules are positioned is called; and then when the algorithm module library selects the algorithm module, the selected algorithm module is automatically called by the function module of the upper stage. If the function module selects the navigation module and the algorithm module library selects the laser algorithm 1, the laser algorithm 1 module will be called by the navigation function module during the execution of the control program. In the next-stage action and sub-module library, the brake module is selected, which means that the mobile robot executes the brake action based on the laser algorithm 1 when necessary during navigation, and the brake module transmits the brake signal to the drivers of the travelling wheels 1 and 2 in the signal driving layer to complete the brake action.

Fig. 2 shows a module configuration diagram of a mobile robot modular architecture according to an embodiment of the present invention, and a modular graphical configuration interface is further provided, as shown in fig. 2, where, from left to right, a required module may be sequentially selected, and a module algorithm on the selected module may be invoked by a module at a previous stage.

According to the method shown in fig. 1 and 2, after the corresponding modules are selected, the required robot control function can be realized, so that the multiplexing rate of each algorithm module is improved, repeated development is reduced, and the development emphasis is placed on the new function of a new algorithm.

Fig. 3 is a schematic diagram illustrating inter-module data communication based on a message mechanism according to an embodiment of the present invention, and as shown in fig. 3, an application layer module and an algorithm layer module are taken as an example, and an upper functional module may directly call a configured lower layer module.

And a message layer is also configured between the application layer and the algorithm layer, the message layer is provided with a message layer management module, and the message layer management module is used for managing communication and data interaction between the modules of the algorithm layer and uploading the messages of the modules of the algorithm layer to the corresponding modules of the application layer.

As shown in fig. 3, when algorithm module 1 in the same layer invokes algorithm module 8, module 1 sends a message to the message layer, the message layer management module receives the message and transmits the invoked message to algorithm module 8, algorithm module 8 returns a parameter value to the message layer according to the instruction, and the message layer management module sends the parameter to algorithm module 1; thereby completing the data interaction between the modules at the same layer.

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In addition, when the lower module, such as the algorithm layer module, calls a certain module in the upper layer, such as the application layer, a message is also sent to the message layer, then the message layer management module sends a message to the corresponding module in the upper layer, and after the corresponding module in the upper layer responds, the upper layer module can be directly called by the corresponding module in the lower layer (returns a data value to the lower layer module).

Some of the modules in fig. 3 may be shown in gray, indicating that when a module is configured or checked, the module is not selected, and will not be invoked, or respond to any information at the message layer.

The robot control software module, the module structure and the relation between the signals and the modules based on the message layer mechanism are shown in fig. 4. The internal structure of the module and its interaction with the program interface is shown in fig. 4. The module mainly comprises a module kernel and content part, a module parameter extraction part and a module file header (comprising a module number, a parameter return value and the like). After the module number from the program interface is matched with the module number, the module can write parameter values in the parameter value script file; the script file extracts the numerical value to be returned to the program interface through analysis of the script interpreter, and the numerical value is read by the corresponding driver module to finally generate the robot hardware control instruction.

In addition, the application also provides a mobile robot modularization method which is applied to the method in any of the previous embodiments, and comprises the following steps: after the module number from the program interface is matched with the module number, writing parameter values in the parameter value script file; and extracting the numerical value to be returned to a program interface to generate a robot hardware control instruction.

More, in order to meet the demands of users, the application can further comprise a server, wherein the server comprises a storage module and a processing module; the server is in bidirectional transmission connection with the information management module, the robot creation module, the sharing module and the feedback module. The storage module comprises user information storage, robot information storage and user feedback information storage; the robot information storage comprises peripheral return information storage and action sensing units, customizing module information storage and buyer feedback information storage; the server stores user information, robot information and user feedback information in the user account. The processing module comprises user feedback information integration and feedback information reminding; the processing module integrates the user uploading experience in the feedback module, gathers feedback information aiming at the robot to the user corresponding to the robot and reminds the user.

The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer or its associated components. The computer may be, for example, a mobile terminal, smart phone, personal computer, laptop, in-vehicle human-computer interaction device, personal digital assistant, media player, navigation device, game console, tablet, wearable device, smart television, internet of things system, smart home, 2022122301-PCN222353I

Industrial computers, servers, or combinations thereof.

Although not shown, in an embodiment of the present invention, there is provided a storage medium storing a computer program configured to, when executed, perform any of the file difference-based compiling methods of the embodiment of the present invention.

Storage media in embodiments of the invention include both permanent and non-permanent, removable and non-removable items that may be used to implement information storage by any method or technology. Examples of storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, read only compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium which can be used to store information that can be accessed by a computing device.

Methods, programs, systems, apparatus, etc. in accordance with embodiments of the invention may be implemented or realized in single or multiple networked computers, or in distributed computing environments. In the present description embodiments, tasks may be performed by remote processing devices that are linked through a communications network in such a distributed computing environment.

It will be appreciated by those skilled in the art that embodiments of the present description may be provided as a method, system, or computer program product. Thus, it will be apparent to those skilled in the art that the functional modules/units or controllers and associated method steps set forth in the above embodiments may be implemented in software, hardware, and a combination of software/hardware.

The acts of the methods, procedures, or steps described in accordance with the embodiments of the present invention do not have to be performed in a specific order and still achieve desirable results unless explicitly stated. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Various embodiments of the invention are described herein, but for brevity, description of each embodiment is not exhaustive and features or parts of the same or similar between each embodiment may be omitted. Herein, "one embodiment," "some embodiments," "example," "specific example," or "some examples" means that it is applicable to at least one embodiment or example, but not all embodiments, according to the present invention. The above terms are not necessarily meant to refer to the same embodiment or example. Those skilled in the art may combine and combine the features of the different embodiments or examples described in this specification and of the different embodiments or examples without contradiction.

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The exemplary systems and methods of the present invention have been particularly shown and described with reference to the foregoing embodiments, which are merely examples of the best modes for carrying out the systems and methods. It will be appreciated by those skilled in the art that various changes may be made to the embodiments of the systems and methods described herein in practicing the systems and/or methods without departing from the spirit and scope of the invention as defined in the following claims.

Claims (8)

1. A mobile robot modular architecture, comprising: an application layer, an algorithm layer and a hardware abstraction layer;

the application layer comprises an action type and function module library, and is used for controlling the action type and function of the mobile robot;

the algorithm layer comprises an algorithm module library, an action library and a subelement library;

the hardware abstraction layer comprises a signal driving layer and a hardware layer, wherein the signal driving layer is used for generating a driving signal for driving hardware to work, and the hardware layer comprises robot hardware.

2. The mobile robotic modularized architecture of claim 1, wherein said action types comprise mobile walking and operational actions.

3. The mobile robot modular architecture of claim 1, wherein the algorithm modules in the library of algorithm modules are independent algorithm modules comprising at least one function, and the library of actions and sub-elements comprises basic function modules.

4. The mobile robot modular architecture of claim 1, wherein the signal driving layer generates and processes driving signals and acquisition signals for motion mechanisms, sensors.

5. The mobile robot modular architecture of claim 1, wherein the modules in the library of functional modules are large functional modules required for movement or operation of the mobile robot, and when the large functional modules are selected, an underlying algorithm in which the large functional modules are located is invoked; and then when the algorithm module library selects the algorithm module, the selected algorithm module is automatically called by the function module of the upper stage.

6. The mobile robot modular architecture of claim 1, further comprising a message layer between the application layer and the algorithm layer, the message layer configuring a message layer management module for managing communication and data interactions between the modules of the algorithm layer, the message layer management module uploading messages of the modules of the algorithm layer to corresponding modules of the application layer.

7. The mobile robot modular architecture of claim 1, further comprising a robot control software module comprising a module kernel and content portion, a module parameter extraction portion, a module file header;

after the module number from the program interface is matched with the module number, the module writes the parameter value in the parameter value script file;

the script file extracts the numerical value to be returned to the program interface through analysis of the script interpreter, and the numerical value is read by the corresponding driver module to finally generate the robot hardware control instruction.

8. A mobile robot modularization method characterized by being applied to the method of any of claims 1-7, comprising:

after the module number from the program interface is matched with the module number, writing parameter values in the parameter value script file;

and extracting the numerical value to be returned to a program interface to generate a robot hardware control instruction.

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