A robot control device, method and robot

Abstract

The invention discloses a robot control device, method and robot. The control device includes a main processor, a coprocessor and one or more subtask controllers, the coprocessor includes a first ROS lib library with a ROS communication module and a ROS management module; the main processor, one or more subtask controllers They are respectively connected with the coprocessor; the coprocessor is used to manage the task data sent by all subtask controllers through the ROS management module; through the ROS communication module, it sends the task data in the ROS message format to the main processor, and receives the main processing According to the management control of the ROS management module, the control instructions are issued to the corresponding sub-task controllers. By adopting the technical solution, the processing time of messages in the robot control process is saved, the burden on the main processor is reduced, the real-time performance of the robot control is ensured, and the user experience is improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot control device, method and robot. Background technique [0002] With the increasing attention paid to robots in recent years, a wide variety of robots and related supporting software and hardware platforms have been launched one after another on the market. The robot system currently on the market adopts the design of the robot operating system (RobotOperating System, ROS) system, and uses the design mode of the main processor and the co-processor. In this mode, the main processor runs the Linux system and the ROS system, and the coprocessor runs a bare-metal program (a program without an operating system) or a real-time embedded system (Real Time Operating System, RTOS). In the robot control process, the co-processing runs a real-time operating system independently, and is responsible for collecting the data of the chassis, motors, sensors and other related units and rep...

AI Technical Summary

Problems solved by technology

[0003] The above scheme adopts the RTOS system in the coprocessor, which is the real-time requirement of robot control, but this processing method still occupies a large number of communication channels between the main processor and the coprocessor, and the private data format and the ROS message format. The conversion and the inherent delay of the smallest operating unit of the Linux system itself (generally around 10ms) make it impossible for a robot with this control method to achieve real-time control in a real sense

At the same time, a large amount of data is transmitted on the communication channel, which will introduce the concept of bit error rate. The bit error rate in the communication system is proportional to the communication capacity of the system. More data throughput will lead to a higher bit error rate. If In order to reduce the bit error rate, the introduction of encoding and decoding links will also increase the system cost and the new system delay problem, that is to say, the robot control scheme in the prior art will have the problem of system delay, which cannot guarantee The real-time nature of the robot causes the robot to perform corresponding operations slowly, affecting the user experience

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