Service robot controller and control method thereof

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...

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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 hardware and software that carry the functional applications are not clear enough in architecture, and the weak real-time task planning and strong real-time motion control are highly coupled, which is not convenient for developers Carry out function extension development

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