Service robot controller and control method thereof

A service robot and controller technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve weak real-time task planning and strong real-time motion control coupling, hardware and software architecture is not clear enough, inconvenient functions Expansion development, etc.

Inactive Publication Date: 2016-04-20
SHANDONG YOUBAOTE INTELLIGENT ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] 1. The controller is designed for specific task functions, which is not suitable for the application requirements of function expansion;
[0005] 2. The function expansion requirements of service robots are generally reflected in the application layer, but the ...

Method used

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  • Service robot controller and control method thereof
  • Service robot controller and control method thereof
  • Service robot controller and control method thereof

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Embodiment Construction

[0045] The present invention is described in detail below in conjunction with accompanying drawing:

[0046] The main key technologies of service robots include: environmental perception and signal processing, real-time planning of complex tasks and services, open controller architecture, mechanical body structure adapted to the working environment, and friendly interactive human-robot interface.

[0047] like figure 1 As shown, regarding the robot controller architecture of the present invention: the controller adopts an open two-level layered architecture, and the task planning layer accepts tasks through the human-robot interface, performs task-action sequence planning, and performs tasks according to vision, hearing, proximity, etc. The motion sequence is adjusted based on the sensory information; the motion control layer performs corresponding motion control according to the motion trajectory planned by the task planning layer, and adjusts the control process in real time...

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Abstract

The invention discloses a service robot controller and a control method thereof. The service robot controller adopts an open type secondary layered architecture and comprises a task planning layer and a motion control layer which are connected by virtue of a communication interface, wherein the task planning layer accepts tasks by virtue of a human-machine interface, carries out task planning and action sequence planning and adjusts an action sequence according to visual, hearing and proximity sense information obtained by a vision sensor and a hearing sensor; and the motion control layer carries out corresponding motion control according to a motion trail planned by the task planning layer and adjusts a motion control process in real time according to touch information obtained by a touch sensor. The service robot controller adopts an open architecture and provides a platform which flexibly defines and develops different function of the service robot. A layered open software-hardware platform can provide openness at different levels according to different requirements, and application requirements of the service robot on task reconfiguration and functional reconstruction can be met.

Description

technical field [0001] The invention relates to a controller, in particular to a service robot controller and a control method thereof. Background technique [0002] Starting from the robot application environment, robots can be divided into two categories, namely industrial robots and service robots. The service robot is a young member of the robot family and has a wide range of applications. The positioning of a service robot is service. In terms of the functional characteristics of a robot, an essential difference between it and an industrial robot is that the working environment of an industrial robot is known, and the function is basically determined. The robot is only defined by teaching and reproduction. operating procedures; and the working environment of service robots is mostly unknown, and functional improvement and optimization are generally carried out through software upgrades. [0003] The technical problems existing in the current service robot controller a...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1661B25J9/1664B25J9/1666B25J9/1694
Inventor 范永
Owner SHANDONG YOUBAOTE INTELLIGENT ROBOTICS CO LTD
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