Robot universal open control system facing object

Abstract

The invention discloses an object-oriented universal open control system for robots, which is mainly used in the design and manufacture of robots and the research fields of robot intelligence. It designed a "universal robot control system" and provided an "object-oriented abstract robot" as a corresponding programming model. The general robot control system defines the three-layer intelligent control model of action layer, behavior layer, and task layer, as well as modules such as perception space, perception information, sensor, and sensor information interpreter, and constrains the interaction mode and level attribution of these modules. The object-oriented abstract robot model is a programming model established for the general robot control system using object-oriented technology. The invention provides a unified, open, universal and standardized control system reference model and design specification for the research and development of the robot.

Description

Technical field: [0001] The invention relates to an object-oriented universal open control system for robots, which realizes the standardization and generalization of intelligent modules of robots and regulates the research and development of robots, and belongs to the technical fields of robots, computer engineering, and interfaces between robots and computers. Background technique [0002] There are nearly 1 million robots in operation in the world today, and robots have become an industry with great development prospects. The research on open structure robot control system is a hot spot widely concerned by scholars at home and abroad, such as the NYMPH system developed by Stanford University in the United States, the MIT / Utah hand experiment system developed by MIT, and the OSMR system developed by Shenyang Institute of Automation in my country. According to the investigation, the Institute of Automation of the Chinese Academy of Sciences has applied for the patent of "Op...

AI Technical Summary

Problems solved by technology

This invention is mainly applied to robots based on industrial computer platforms, so it cannot be extended to robot control on general hardware platforms

[0003] At present, the existing robot control system has a lack of generality in terms of architecture, and this problem has affected the research and development of robot technology.

First of all, because existing robot control systems are often developed based on a certain or a certain series of robot hardware platforms, most robot control systems cannot be transplanted across hardware platforms; secondly, because a certain control strategy (such as path planning or behavior-based mechanism) is selected as its Modular reference basis, the intelligent modules and programs of the existing robot control system cannot be used in common on different robots, so that some intelligent algorithms must be modified and reprogrammed when applied to different robots, resulting in a waste of research energy; again, due to There is a lack of standardized research and development specifications in the system structure of the robot control system. The robot products and robot intelligence programs produced by different manufacturers and research institutions are not common, resulting in the inability of the robot technology research of various research institutions to communicate with each other. Research and Development of Robotics

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