CN117532591A - Robot system architecture and implementation method thereof - Google Patents
Robot system architecture and implementation method thereof Download PDFInfo
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- CN117532591A CN117532591A CN202311515954.1A CN202311515954A CN117532591A CN 117532591 A CN117532591 A CN 117532591A CN 202311515954 A CN202311515954 A CN 202311515954A CN 117532591 A CN117532591 A CN 117532591A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000001514 detection method Methods 0.000 claims description 21
- 230000002159 abnormal effect Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 7
- 230000003993 interaction Effects 0.000 claims description 7
- 238000009826 distribution Methods 0.000 claims description 3
- 238000007726 management method Methods 0.000 description 46
- 230000006870 function Effects 0.000 description 22
- 238000004590 computer program Methods 0.000 description 12
- 238000003860 storage Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000013439 planning Methods 0.000 description 5
- 230000006399 behavior Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004297 night vision Effects 0.000 description 2
- 238000010926 purge Methods 0.000 description 2
- 238000012384 transportation and delivery Methods 0.000 description 2
- 241000208199 Buxus sempervirens Species 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a robot system architecture and an implementation method thereof, wherein a robot management module is used for generating a task instruction based on an acquired task and sending the task instruction to a box management module and a robot control module; the robot control module is used for receiving the task instruction and controlling the robot to move according to the task instruction; the box management module is used for receiving the task instruction and determining a box function to be executed according to the task instruction; the box control module is used for controlling the box to execute the box function in the moving process of the robot so as to realize that the robot executes the task. According to the invention, through the cooperation of the robot and different boxes, the robot can execute different types of tasks, and the robot system architecture has the advantages of clear structure, convenience in expansion, small occupied computing resource, high commercial value and the like, and the service capability of the robot is improved.
Description
[ field of technology ]
The invention relates to the technical field of robots, in particular to a robot system architecture and an implementation method thereof.
[ background Art ]
The current service robot system architecture is mostly built by adopting an open source ROS system, the system is complex, the cutting is difficult, the calculation is redundant, and particularly, the service robot system architecture is difficult to operate on a mobile computing platform with low computing resources, and a plurality of devices are difficult to cooperate.
In view of the foregoing, it is desirable to provide a novel robotic system architecture and a method for implementing the same to overcome the above-mentioned drawbacks.
[ invention ]
The invention aims to provide a robot system architecture and an implementation method thereof to solve the technical problems.
In order to achieve the above object, in a first aspect, the present invention provides a robot system architecture including a robot and a cassette disposed on the robot; the robot comprises a robot management module and a robot control module, and the box comprises a box management module and a box control module; the robot management module is used for generating a task instruction based on the acquired task and sending the task instruction to the box management module and the robot control module; the robot control module is used for receiving the task instruction and controlling the robot to move according to the task instruction; the box management module is used for receiving the task instruction and determining a box function to be executed according to the task instruction; the box control module is used for controlling the box to execute the box function in the moving process of the robot so as to realize that the robot executes the task.
In a preferred embodiment, the method further comprises a cloud end; the box control module is also used for reporting the detection data of the box to the box management module in the process of executing the box function; the box management module is used for acquiring detection results according to detection data of the box and reporting the detection results to the robot management module and/or the cloud.
In a preferred embodiment, the robot further includes an event generating module, and the robot management module is further configured to analyze the detection result, and the event generating module is configured to generate an abnormal event when the detection result is abnormal and report the abnormal event to the cloud.
In a preferred embodiment, the robot further comprises a display interaction module for displaying status data of the robot and acquiring tasks based on user operations.
In a preferred embodiment, the cloud end is further configured to configure task information according to the task and send the task information to the robot.
In a preferred embodiment, the robot further comprises an identification module for acquiring data identified by a camera on the robot.
In a preferred embodiment, the robot further comprises a near field communication module for enabling the robot to communicate directly with elevators, gates, automatic doors, distribution stations, retail cabinets, other robots without a network.
In a preferred embodiment, the robot communicates with the cloud via a mobile network 4g udp+grpc protocol; the box and the cloud are communicated through a mobile network 4g or a wireless network wifi grpc protocol.
In a preferred embodiment, the robot communicates with the box via a wireless network wifi grpc protocol.
In a second aspect, the present invention provides a method for implementing a robot system architecture based on any one of the above, where the robot system architecture includes a robot and a box disposed on the robot; the robot comprises a robot management module and a robot control module, and the box comprises a box management module and a box control module; the implementation method comprises the following steps: the robot management module is used for generating a task instruction based on the acquired task and sending the task instruction to the box management module and the robot control module; the robot control module is used for receiving the task instruction and controlling the robot to move according to the task instruction; the box management module is used for receiving the task instruction and determining a box function to be executed according to the task instruction; the box control module is used for controlling the box to execute the box function in the moving process of the robot so as to realize that the robot executes the task.
In a third aspect, the present invention also provides a computer device comprising: a memory and one or more processors; the memory is used for storing one or more computer programs; the one or more computer programs, when executed by the one or more processors, implement a method for implementing a robotic system architecture according to any of the embodiments of the second aspect of the invention.
In a fourth aspect, the present invention further provides a computer storage medium, where a computer program is stored, where the computer program, when executed by a processor, implements a method for implementing the robotic system architecture according to any embodiment of the second aspect of the present invention.
In a fifth aspect, the present invention further provides a computer program product, which comprises a computer program or instructions which, when executed by a processor, implement a method of implementing the robotic system architecture according to any one of the embodiments of the second aspect of the present invention.
Compared with the prior art, the robot system architecture and the implementation method, equipment, storage medium and program product thereof provided by the invention, the robot system architecture comprises a robot and a box arranged on the robot, the robot comprises a robot management module and a robot control module, the box comprises a box management module and a box control module, the robot management module is used for generating task instructions based on acquired tasks and sending the task instructions to the box management module and the robot control module, the robot control module is used for receiving the task instructions and controlling the movement of the robot according to the task instructions, the box management module is used for receiving the task instructions and determining the box functions to be executed according to the task instructions, and the box control module is used for controlling the box to execute the box functions in the moving process of the robot so as to realize the execution of the tasks of the robot.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic block diagram of a robotic system architecture provided by the present invention;
FIG. 2 is a schematic diagram of a robotic system architecture provided by the present invention;
FIG. 3 is a flow chart of a method for implementing the robotic system architecture provided by the present invention;
fig. 4 is a schematic block diagram of a computer device provided by the present invention.
[ detailed description ] of the invention
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
Please refer to fig. 1, which is a schematic block diagram of a robotic system architecture provided by the present invention. The robot system architecture 100 provided by the invention comprises a robot 10 and a box 20 arranged on the robot 10, wherein the box 20 can be specifically installed on the robot by using a universal guide rail interface link. The robot 10 includes a robot management module 11 and a robot control module 12, and the cassette 20 includes a cassette management module 21 and a cassette control module 22.
The robot management module 11 is configured to generate a task instruction based on the acquired task, and send the task instruction to the box management module 21 and the robot control module 12; the robot control module 12 is configured to receive the task instruction and control the robot to move according to the task instruction; the box management module 21 is configured to receive the task instruction and determine a box function to be executed according to the task instruction; the cassette control module 22 is used to control the cassette to perform the cassette functions during movement of the robot to achieve the task performed by the robot. Cassette functions include, but are not limited to, specifically, flame identification, air quality detection, air purging, night vision capability, and the like.
Further, the robotic system architecture 100 provided by the present invention further includes a cloud end 30.
The box control module 22 is further configured to report detection data of the box to the box management module 21 during the process of executing the box function; the box management module 21 is configured to obtain a detection result according to the detection data of the box and report the detection result to the robot management module 11 and/or the cloud end 30.
Specifically, the robot and the cloud communicate through a mobile network 4g udp+grpc protocol; the box and the cloud are communicated through a mobile network 4g or a wireless network wifi grpc protocol. The robot communicates with the box through a wireless network wifi grpc protocol.
The robot 10 further includes an event generating module 13, the robot management module 11 is further configured to analyze the detection result, and the event generating module 13 is configured to generate an abnormal event when the detection result is abnormal and report the abnormal event to the cloud end 30.
The robot 10 further comprises a display interaction module 14, wherein the display interaction module 14 is used for displaying state data of the robot and acquiring tasks based on user operations. Specifically, the obtained task may be uploaded to the cloud end 30 through the robot management module 11, and the cloud end 30 is further configured to configure task information according to the task and send the task information to the robot 10, where the cloud end 30 can coordinate and schedule a plurality of tasks.
The robot 10 further comprises an identification module 15, wherein the identification module 15 is configured to obtain data identified by a camera on the robot. Specifically, the recognition module 15 can provide the data recognized by the camera for the robot management module 11 to use, so as to realize the recognition of the face, the recognition of the human body, the recognition of fire doors, the recognition of the occupation of channels, and the like.
The robot 10 further comprises a near field communication module 16, the near field communication module 16 being adapted to enable the robot to communicate directly with elevators, gates, automatic doors, distribution stations, retail cabinets, other robots without a network.
Referring to fig. 2, fig. 2 is a schematic diagram of a robotic system architecture 100 according to the present invention. The following describes the above modules in detail with reference to fig. 2, where in fig. 2, kago5-Arma and Kago5-Armb represent robots, box represents a Box, and clod represents a cloud; meteor-robot represents a robot management module, robotcc represents a robot control module, luna represents a display interaction module, telescope represents an identification module, nfcc represents a near field communication module, and jarvis-agent represents an event generation module; meteor-box represents the box management module and robotcc-box represents the box control module.
Specifically, kago5-Arma and Kago5-Armb are communicated through a wired network udp protocol, and Kago5-Arma and Box are communicated through a wireless network wifi grpc protocol; kago5-Arma and WebServer (i.e. robot and cloud) communicate via mobile network 4g udp+grpc protocol; box and WebServer (i.e. Box and cloud) communicate via mobile network 4g or wireless network wifi grpc protocol.
Meteor-robot is a heart program that drives all program operations of the robot to complete business activities. Specifically, the meter-robot can realize control of single basic capacity of the robot, such as movement, door opening and closing, photographing and the like, can perform static path planning based on equipment, such as planning an elevator which is required to be taken from any floor to any other floor, can also be based on resource planning of points and equipment, such as planning of a sequence of use of the elevator by a plurality of robots, can also realize floor positioning, such as switching of a map to the floor which is to be taken after the robot takes the elevator to go to other floors, can also perform multiparty task coordination, such as coordination of a delivery task generated by a local menu and a movement capacity resource utilization conflict caused by an on-line recovery generated movement task, can also perform local service scheduling, such as execution of default behavior of user planning, execution of a task initiated temporarily by a user, reception of a delivery task initiated by a robot screen, and the like, and also has storage management capacity, such as recording of a storage position of a user object, time of putting in/taking out, and the like.
The meter-box can encapsulate the box capability, such as detecting air and reporting the detection result, and also can ensure that the connected meter-robot is the program of the robot corresponding to the box currently.
Robotecc can provide robot body control capabilities invoked by meter-robots, such as motion (movement/rotation), door switches, steering engine locks, motor disabling/enabling, box power, etc., and robot body awareness capabilities judged by meter-robots, such as nearby robot coordinates, nearby human leg coordinates, controllable actuator status, moving speed current coordinates, etc.
luna provides interface display function, displays state data provided by meter-robots, such as electric quantity and charging state display, robot state display, program state display and the like, and provides interaction function for user interaction with meter-robots, such as menu, door opening and closing, motor control, repositioning and the like.
the telescope provides the data recognized by the camera for the meteor-robot, such as face recognition, human body recognition, fire door recognition, channel occupation recognition, etc., and also provides a photographing function for the meteor-robot.
The nfc provides near field communication function and is used by a meter-robot, specifically, the nfc can directly communicate with iot devices such as an elevator/gate/automatic gate/station/retail cabinet/other robots under the condition of no network, so that the robots can send messages one to many and can receive multi-party messages at the same time.
The jarvis-agent provides a function of reporting the event to the cloud, and specifically, can report data such as event/alarm/dotting index.
The cloud end can provide related timing tasks or time-division default behavior requests configured by the user, can also provide link preparation of near field communication, and can also provide service data such as user information, address information, waybill information and the like.
The meter-box provides the capability of the box for use by the meter-box, such as flame identification, air quality detection, purge air, night vision capability, etc. Specifically, the meter-box can directly report the identification result to the cloud.
The robotec-box is responsible for executing all the capabilities of the box and reporting the results to the mettor-box, which provides all the test data of the box for use by the mettor-box.
The robot system architecture 100 provided by the invention comprises a robot 10 and a box 20 arranged on the robot 10, wherein the robot 10 comprises a robot management module 11 and a robot control module 12, the box 20 comprises a box management module 21 and a box control module 22, the robot management module 11 is used for generating task instructions based on acquired tasks and sending the task instructions to the box management module 21 and the robot control module 12, the robot control module 12 is used for receiving the task instructions and controlling the robot to move according to the task instructions, the box management module 21 is used for receiving the task instructions and determining box functions to be executed according to the task instructions, and the box control module 22 is used for controlling the box to execute the box functions in the moving process of the robot so as to realize the execution of the tasks of the robot.
Referring to fig. 3, the invention further provides a method for implementing the architecture of the robot system according to any one of the embodiments, where the implementing method includes the following steps:
step S10: the robot management module is used for generating a task instruction based on the acquired task and sending the task instruction to the box management module and the robot control module;
step S20: the robot control module is used for receiving the task instruction and controlling the robot to move according to the task instruction;
step S30: the box management module is used for receiving the task instruction and determining a box function to be executed according to the task instruction;
step S40: the box control module is used for controlling the box to execute the box function in the moving process of the robot so as to realize that the robot executes the task.
It should be noted that, all embodiments of the robot system architecture provided by the present invention are applicable to the implementation method of the robot system architecture provided by the present invention, and can achieve the same/similar technical effects, which are not described herein in detail.
Referring to fig. 4, the present invention further provides a computer device, including: a memory 210 and one or more processors 220.
In particular, the memory 210 is used to store one or more computer programs; the one or more computer programs, when executed by the one or more processors 220, implement the method of implementing a robotic system architecture as described in any of the embodiments above.
The Memory 210 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. The memory 210 is configured to store a program, and the processor 220 executes the program after receiving an execution instruction, so as to implement the method for implementing the robotic system architecture according to any one of the embodiments. It will be appreciated that access to the memory 210 by the processor 220 and possibly other components may be under the control of a memory controller.
The processor 220 may be an integrated circuit chip with signal processing capabilities. The processor 220 may be a general purpose processor including a central processing unit (Central Processing Unit, CPU), network processor (Network Processor, NP), etc., and may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components capable of implementing or executing the methods, steps disclosed in any of the embodiments of the present invention.
The invention also provides a computer storage medium, and a computer program is stored in the computer storage medium, and when the computer program is executed by a processor, the method for realizing the robot system architecture according to any one of the previous embodiments is realized.
The invention also provides a computer program product comprising a computer program or instructions which, when executed by a processor, implement the method of implementing a robotic system architecture according to any of the embodiments described above.
In summary, the robot system architecture includes a robot and a box disposed on the robot, where the robot includes a robot management module and a robot control module, the box includes a box management module and a box control module, the robot management module is configured to generate task instructions based on acquired tasks and send the task instructions to the box management module and the robot control module, the robot control module is configured to receive the task instructions and control the movement of the robot according to the task instructions, the box management module is configured to receive the task instructions and determine a box function to be executed according to the task instructions, and the box control module is configured to control the box to execute the box function in the movement process of the robot to implement the task execution by the robot.
The foregoing description is only of embodiments of the present invention, and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (10)
1. The robot system architecture is characterized by comprising a robot and a box arranged on the robot; the robot comprises a robot management module and a robot control module, and the box comprises a box management module and a box control module;
the robot management module is used for generating a task instruction based on the acquired task and sending the task instruction to the box management module and the robot control module;
the robot control module is used for receiving the task instruction and controlling the robot to move according to the task instruction;
the box management module is used for receiving the task instruction and determining a box function to be executed according to the task instruction;
the box control module is used for controlling the box to execute the box function in the moving process of the robot so as to realize that the robot executes the task.
2. The robotic system architecture of claim 1, further comprising a cloud;
the box control module is also used for reporting the detection data of the box to the box management module in the process of executing the box function;
the box management module is used for acquiring detection results according to detection data of the box and reporting the detection results to the robot management module and/or the cloud.
3. The robotic system architecture of claim 2, wherein the robot further comprises an event generation module, the robot management module further configured to analyze the detection result, and the event generation module is configured to generate an abnormal event and report the abnormal event to a cloud when the detection result is abnormal.
4. The robotic system architecture of claim 1, wherein the robot further comprises a display interaction module for displaying status data of the robot and acquiring tasks based on user operations.
5. The robotic system architecture of claim 4, wherein the cloud end is further configured to configure task information according to the task and to issue the task information to a robot.
6. The robotic system architecture of claim 1, wherein the robot further comprises an identification module for acquiring data identified by a camera on the robot.
7. The robotic system architecture of claim 1, wherein the robot further comprises a near field communication module for enabling the robot to communicate directly with elevators, gates, automatic doors, distribution stations, retail cabinets, other robots without a network.
8. The robotic system architecture of claim 2, wherein the robot communicates with the cloud via a mobile network 4g udp+grpc protocol; the box and the cloud are communicated through a mobile network 4g or a wireless network wifi grpc protocol.
9. The robotic system architecture of claim 1, wherein the robot communicates with the box via a wireless network wifi grpc protocol.
10. A method of implementing a robotic system architecture based on any one of claims 1-9, wherein the robotic system architecture comprises a robot and a cassette disposed on the robot; the robot comprises a robot management module and a robot control module, and the box comprises a box management module and a box control module; the implementation method comprises the following steps:
the robot management module is used for generating a task instruction based on the acquired task and sending the task instruction to the box management module and the robot control module;
the robot control module is used for receiving the task instruction and controlling the robot to move according to the task instruction;
the box management module is used for receiving the task instruction and determining a box function to be executed according to the task instruction;
the box control module is used for controlling the box to execute the box function in the moving process of the robot so as to realize that the robot executes the task.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311515954.1A CN117532591A (en) | 2023-11-14 | 2023-11-14 | Robot system architecture and implementation method thereof |
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| CN202311515954.1A CN117532591A (en) | 2023-11-14 | 2023-11-14 | Robot system architecture and implementation method thereof |
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| CN117532591A true CN117532591A (en) | 2024-02-09 |
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| CN202311515954.1A Pending CN117532591A (en) | 2023-11-14 | 2023-11-14 | Robot system architecture and implementation method thereof |
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