Service-oriented robot open-type control system and method based on software bus

Abstract

The invention proposes a service-oriented robot open-type control system and method based on a software bus. The system comprises (1), a service-oriented robot open-type control system. The function modules of the control system are packaged in a service mode, and are enabled to be combined and applied. Therefore, the system has the open, extendable and SLC (Service Loose Coupling) characteristics. The software bus is the core module of the whole distributed control system, and the main function of the software bus is to provide a transparent transmission mechanism for different nodes, and to remove the coupling between a user and a message protocol. The system supports the development of the distributed control system. An TTEthernet (time-triggered Ethernet) is introduced through a transmission layer, and guarantees the instantaneity and certainty of the data transmission of the control system. Moreover, load balancing is employed for reducing the bus node hotspot access problems. According to the invention, a service-oriented framework is provided for a user to carry out development of one or more robot distributed control systems, and improves the development efficiency of the control system under the instantaneity of data transmission.

Description

technical field [0001] The invention relates to an open system structure supporting distributed robot control, in particular to a service-oriented robot open control system based on software bus. Background technique [0002] The robot control system is the core of the robot. Most of the traditional robot control systems adopt a closed structure. The advantage of this structure is that it is simple in structure and can realize efficient control. However, with the development of robotics and the overall complexity of control systems, the limitations of closed control systems are becoming increasingly apparent. The main performance is: poor scalability, poor portability, poor fault tolerance, difficult to maintain and upgrade. Due to the above limitations, an open robot control system is a feasible solution to the above problems. The open control robot control system has the characteristics of scalability, portability, service, and reusability, which can greatly reduce the c...

AI Technical Summary

Problems solved by technology

Although a series of research results have been achieved in the existing open robot control systems at home and abroad, the hierarchical open control system still has problems such as high component coupling and inability to realize runtime configuration of components.

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