Subsumption hierarchical structure-based universal robot multi-scene control method
A technology of hierarchical structure and control method, applied in the direction of two-dimensional position/channel control, etc., can solve the problems such as the lack of portability of the robot control system, increase the hardware cost of the service robot, and affect the real-time performance of the service robot, and achieve real-time performance. Good, simple coordination mechanism, and the effect of reducing hardware costs
Active Publication Date: 2014-01-08
NANJING UNIV
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Problems solved by technology
However, with the continuous increase of robot sensors and auxiliary function modules, the comprehensive analysis algorithm of the main control module will become very complicated, which will affect the real-time performance of service robots
[0007] 3. The complex main control module will have high requirements on the processor, which will increase the hardware cost of the service robot and affect the promotion of the service robot
[0011] 1. When the system level increases, it is difficult to design a suppression mechanism to decompose tasks in parallel
[0012] 2. The robot is controlled from the circuit level, so the robot control system is not portable
Method used
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[0053] figure 1 It is a structure diagram of the present invention. (Taking priority setting as scene-0 higher than scene-1 higher than scene-2 higher than scene-3 as an example)
[0054]The present invention designs the control mode into four levels corresponding to the scene:
[0055] (1) Keyboard control corresponds to scene-0 of directly operating the robot. The keyboard receives the information, and puts the keyboard command into the command queue-0; the implementation of the keyboard receiving module is: use the scanf() function to read the user's keyboard input from the console, encapsulate it into a text format command, and call the command queue-0 The push function queues keyboard commands.
[0056] (2) Voice control corresponds to scene-1 where the robot is in the same room. The information is received by the microphone, and the voice command is loaded into the command queue-1 in the voice recognition module; image 3 As shown, the implementation of the speech...
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The invention discloses a subsumption hierarchical structure-based universal robot multi-scene control method, which is used for controlling a service robot by using a priority mechanism and a prohibition mechanism through a keyboard instruction, a voice instruction, a socket instruction and a mail instruction on a plurality of scenes, and has a simple obstacle avoidance walking function. The method has the obvious advantages that each control mode is executed in parallel in a hierarchical structure, the simple priority mechanism and the prohibition mechanism are adopted between hierarchies to coordinate so as to realize good real-time property; the control method is software design and is unrelated to a robot platform so as to realize good transplantability; no master control module is arranged, and a new function is added without rewriting the conventional module so as to realize good extensibility; a coordination mechanism is simple, and the requirements on a processor are low compared with a complex master control module, so that the hardware cost is reduced, and the generalization is easy.
Description
technical field [0001] The invention relates to the field of robot control, in particular to a multi-scene control method for a general robot based on an inclusive hierarchical structure. Background technique [0002] my country's "National Medium and Long-Term Science and Technology Development Plan (2006-2020)" mentioned that "intelligent service robots are intelligent equipment integrated with various high technologies that provide necessary services for humans in an unstructured environment." [0003] With the development of robot technology, the method of robot control is also constantly evolving and changing. The traditional control method adopts the framework of "Sense→Plan→Act" ("Sense→Plan→Act"). First, the sensor perceives the surrounding environment, receives different types of instructions, and then sends the information to the main control module for comprehensive analysis. The next action is handed over to the corresponding module for execution. For example, ...
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IPC IPC(8): G05D1/02
Inventor 申富饶干强赵金熙
Owner NANJING UNIV