Low-coupling real-time robot control software system

Abstract

The invention discloses a low-coupling real-time robot control software system, which comprises a core control module which adopts a layered architecture design and comprises a hardware abstraction layer, a middleware layer and an application layer; the real-time communication module is used for constructing an internal communication network based on a high-speed real-time Ethernet protocol; the intelligent task scheduling module is used for distributing and scheduling tasks by applying a dynamic programming algorithm in combination with a priority queue; the man-machine interaction module supports multi-mode interaction including voice recognition, gesture control and touch screen operation; the motion control module is responsible for accurately controlling the robot through kinematics and dynamical models according to the instruction of the task scheduling module; and the exception handling and diagnosis module is used for monitoring the running state of the system. Modular design of the robot control system is achieved, expansibility, maintainability and real-time performance of the system are improved, and the robot control system can be flexibly applied to different hardware platforms.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, in particular to a low-coupling real-time robot control software system. Background Art

[0002] With the rapid development of industrial automation and intelligent manufacturing, collaborative robots have been widely used in many fields. However, most of the existing robot operating systems have the problems of high coupling and insufficient real-time control performance. High coupling makes system maintenance difficult. Once a module fails, it is very easy to trigger a chain reaction, affecting the operational stability of the entire robot. At the same time, when faced with complex and changeable tasks, real-time control cannot be carried out in a timely and effective manner, and high-precision and high-efficiency production requirements cannot be met. In the scenario of multi-robot collaboration, the traditional system has large data transmission delays and poor coordination between different robots, which seriously restricts the improvement of production efficiency and product quality. For this reason, a low-coupling real-time robot control software system is proposed. Summary of the invention

[0003] 1. Technical issues to be solved

[0004] In view of the shortcomings of the existing technology, the present invention provides a low-coupling real-time robot control software system, which solves the problem that in the traditional system, in the scenario of multi-robot collaboration, the data transmission delay is large and the coordination of the movements between different robots is poor, which seriously restricts the improvement of production efficiency and product quality.

[0005] (II) Technical solution

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a low-coupling real-time robot control software system, including a core control module: a layered architecture design, including a hardware abstraction layer, a middleware layer and an application layer;

[0007] Real-time communication module: build internal communication network based on high-speed real-time Ethernet protocol;

[0008] Intelligent task scheduling module: uses dynamic programming algorithm combined with priority queue to allocate and schedule tasks;

[0009] Human-computer interaction module: supports multimodal interaction, including voice recognition, gesture control, and touch screen operation;

[0010] Motion control module: The motion control module is responsible for accurately controlling the robot through kinematic and dynamic models according to the instructions of the task scheduling module;

[0011] Exception handling and diagnosis module: The exception handling and diagnosis module is used to monitor the operating status of the system and provide alarm information or take emergency measures when a fault occurs;

[0012] Data acquisition module and interface and configuration module.

[0013] As a further preferred embodiment of the present invention, the hardware abstraction layer is responsible for directly interacting with various hardware devices of the robot, abstracting the physical characteristics of the hardware, and providing a unified hardware access interface for the middleware layer, so that the middleware layer and the hardware are loosely coupled; the middleware layer carries communication protocol management, task scheduling, and data caching, and is connected to the application layer through a standard interface to ensure that the development of the application layer is independent of the specific implementation of the hardware and middleware, thereby reducing the overall coupling degree; the application layer is oriented to user needs and develops robot applications, palletizing process packages, and welding process packages.

[0014] As a further preferred embodiment of the present invention, the real-time communication module adopts a publish / subscribe mode, and the data transmission between the robot components and the collaborative robots follows this mode. The sender publishes the data as a "message", and the receiver subscribes to the corresponding "message" according to its own needs. In addition, a data verification and retransmission mechanism is provided. When data error or loss is detected, retransmission is performed immediately.

[0015] As a further preferred embodiment of the present invention, the intelligent task scheduling module assigns priorities according to the real-time status of the robot, including load, movement speed, and task. Tasks with high priorities enter the execution queue first, and the task execution path is optimized using a dynamic programming algorithm.

[0016] As a further preferred embodiment of the present invention, the human-computer interaction module supports multimodal interaction, including voice recognition, gesture control, and touch screen operation, and issues tasks through voice commands and sends them to the intelligent task scheduling module.

[0017] As a further preferred embodiment of the present invention, the motion control module hardware driver interface module works independently to support different types of robots, and the motion control module calculates the control signals of each drive unit according to real-time data and a preset algorithm.

[0018] As a further preferred embodiment of the present invention, the exception handling and diagnosis module is used to monitor the operating status of the system, and provide alarm information or take emergency measures when a fault occurs. It analyzes the system status based on real-time data, determines whether there is a fault, and automatically isolates or recovers the system.

[0019] As a further preferred embodiment of the present invention, the interface and configuration module provides a unified user interface, allowing the user to configure and adjust various parameters of the robot control system, including motion mode, task type, execution strategy, and supports hot plugging and remote debugging.

[0020] As a further preferred embodiment of the present invention, the data acquisition module is used to collect real-time data from the robot's force sensors, visual sensors, accelerometers, and gyroscopes. The data acquisition module is connected to other modules through a standardized data interface to ensure low coupling between the modules.

[0021] (III) Beneficial effects

[0022] The present invention provides a low-coupling real-time robot control software system. It has the following beneficial effects:

[0023] Low coupling: Each module communicates through a standardized interface, and the dependencies between modules are minimized. Each module can be independently developed, debugged, and upgraded to improve the maintainability and scalability of the system. High scalability: The system design has good scalability, and can flexibly add new functional modules or support different types of robot hardware. The system can adapt to changing task requirements and quickly adjust and optimize. Flexibility: The system supports multiple hardware platforms and can implement the same software control logic on different types of robot platforms, greatly improving cross-platform application capabilities. Easy to maintain and upgrade: The low-coupling design enables each module of the system to quickly locate problems when a failure occurs, and to perform independent repairs or upgrades, reducing the overall system downtime. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the system principle framework of the present invention;

[0025] Figure 2 Designing a hierarchical diagram for the system of the present invention;

[0026] Figure 3 It is a schematic diagram of the information transmission principle of the present invention. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See also Figure 1-3 , the embodiment of the present invention provides a technical solution:

[0029] The low-coupling real-time robot control software system of the present invention includes: a core control module: a layered architecture design is adopted, which is divided into a hardware abstraction layer, a middleware layer and an application layer. The hardware abstraction layer is responsible for directly interacting with various hardware devices of the robot, such as motors, sensors, etc., abstracting the physical characteristics of the hardware, and providing a unified hardware access interface for the middleware layer, so that the middleware layer and the hardware are low-coupled; the middleware layer carries a variety of key functions, such as communication protocol management, task scheduling, data caching, etc., and is connected to the application layer through a standard interface to ensure that the development of the application layer is independent of the specific implementation of the hardware and middleware, thereby reducing the overall coupling degree. The application layer is oriented to user needs and develops various robot application programs, palletizing process packages, and welding process packages.

[0030] Real-time communication module: Based on the high-speed real-time Ethernet protocol, an internal communication network is constructed. This module adopts the publish / subscribe mode, and the data transmission between the robot components and the collaborative robots follows this mode. The sender publishes the data as a "message", and the receiver subscribes to the corresponding "message" according to its own needs, thereby achieving efficient and accurate data transmission, avoiding line congestion and delays caused by traditional point-to-point communication, and meeting the needs of real-time control. At the same time, in order to ensure the reliability of the data, a data check and retransmission mechanism is set up. Once data errors or losses are detected, retransmission is performed immediately.

[0031] Intelligent task scheduling module: Use dynamic programming algorithm combined with priority queue to allocate and schedule tasks. Give priority to each task according to the real-time status of the robot, such as load, movement speed, etc., as well as factors such as the urgency and complexity of the task. Tasks with high priority will enter the execution queue first, and the dynamic programming algorithm will be used to optimize the task execution path, reduce the robot's idling time and energy consumption during task switching, and improve overall operation efficiency.

[0032] Human-machine interaction module: supports multi-modal interaction, including voice recognition, gesture control, touch screen operation, etc. Operators can issue tasks through voice commands, and the system uses advanced voice recognition technology to convert voice into task instructions and send them to the intelligent task scheduling module; through gesture control, operators can intuitively guide the direction and amplitude of the robot's movements, enhancing the fluency of human-machine collaboration; the touch screen operation interface provides rich visual information, such as the robot's real-time status, task progress, etc., which facilitates operators to make fine adjustments and monitoring.

[0033] Data acquisition module This module is used to collect real-time data from various sensors of the robot (such as force sensors, visual sensors, accelerometers, gyroscopes, etc.). The data acquisition module is connected to other modules through standardized data interfaces to ensure low coupling between modules. This module can process sensor data in real time and perform preliminary filtering and data preprocessing.

[0034] Motion control module: The motion control module is responsible for accurately controlling the robot through kinematic and dynamic models according to the instructions of the task scheduling module. This module works independently with the hardware driver interface module and supports different types of robots, such as robotic arms, mobile robots, etc. The motion control module calculates the control signals of each drive unit based on real-time data and preset algorithms, and outputs them to the execution module.

[0035] Execution module: The execution module directly interacts with the robot hardware, executes the commands of the motion control module, and controls the robot to perform actual operations (such as movement, grasping, and handling). The execution module exchanges data with other modules of the control software through standardized communication protocols to ensure low coupling between modules.

[0036] Exception handling and diagnosis module: The exception handling and diagnosis module is used to monitor the operating status of the system and provide alarm information or take emergency measures when a fault occurs. This module can analyze the system status based on real-time data, determine whether there is a fault, and automatically isolate or restore it.

[0037] Interface and configuration module: Provides a unified user interface, allowing users to configure and adjust various parameters of the robot control system, such as motion mode, task type, execution strategy, etc. This module supports hot swapping and remote debugging, making it easy for users to customize configuration according to different needs.

[0038] The present invention ensures efficient operation and real-time control of the system by designing each module separately and adopting efficient algorithms and real-time scheduling mechanisms in each module. For example, the data acquisition module can communicate with the standard interface of the hardware device (such as CAN bus, EtherCAT, etc.) to pass the sensor data to the upper control module. The task scheduling module will reasonably allocate computing resources and schedule tasks according to the system load and task priority to ensure that the system response time meets the real-time requirements. The motion control module adopts classic control algorithms such as PID control, model predictive control (MPC), etc. to achieve accurate control of the robot motion. In addition, when the system fails, the exception handling module can quickly locate the fault through real-time monitoring and diagnostic tools, which reduces the time of troubleshooting and improves the stability and reliability of the system.

[0039] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0040] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. Low-coupling real-time robot control software system, characterized by: Including core control module: adopting layered architecture design, including hardware abstraction layer, middleware layer and application layer; Real-time communication module: build internal communication network based on high-speed real-time Ethernet protocol; Intelligent task scheduling module: uses dynamic programming algorithm combined with priority queue to allocate and schedule tasks; Human-computer interaction module: supports multimodal interaction, including voice recognition, gesture control, and touch screen operation; Motion control module: The motion control module is responsible for accurately controlling the robot through kinematic and dynamic models according to the instructions of the task scheduling module; Exception handling and diagnosis module: The exception handling and diagnosis module is used to monitor the operating status of the system and provide alarm information or take emergency measures when a fault occurs.

2. The low-coupling real-time robot control software system according to claim 1, characterized in that: The hardware abstraction layer is responsible for directly interacting with various hardware devices of the robot, abstracting the physical characteristics of the hardware, and providing a unified hardware access interface for the middleware layer, so that the middleware layer and the hardware are loosely coupled; the middleware layer carries communication protocol management, task scheduling, and data caching, and is connected to the application layer through a standard interface to ensure that the development of the application layer is independent of the specific implementation of the hardware and middleware, thereby reducing the overall coupling degree. The application layer develops robot applications, palletizing process packages, and welding process packages based on user needs.

3. The low-coupling real-time robot control software system according to claim 1, characterized in that: The real-time communication module adopts the publish / subscribe mode. The data transmission between the robot components and the collaborative robots follows this mode. The sender publishes the data as a "message", and the receiver subscribes to the corresponding "message" according to its own needs. In addition, a data verification and retransmission mechanism is set up. If data error or loss is detected, retransmission is performed immediately.

4. The low-coupling real-time robot control software system according to claim 1, characterized in that: The intelligent task scheduling module assigns priorities according to the real-time status of the robot, including load, movement speed, and task. Tasks with high priorities enter the execution queue first, and the task execution path is optimized using a dynamic programming algorithm.

5. The low-coupling real-time robot control software system according to claim 1, characterized in that: The human-computer interaction module supports multimodal interaction, including voice recognition, gesture control, and touch screen operation. Tasks are issued through voice commands and sent to the intelligent task scheduling module.

6. The low-coupling real-time robot control software system according to claim 1, characterized in that: The motion control module hardware driver interface module works independently and supports different types of robots. The motion control module calculates the control signals of each drive unit according to real-time data and a preset algorithm.

7. The low-coupling real-time robot control software system according to claim 1, characterized in that: The exception handling and diagnosis module is used to monitor the operating status of the system and provide alarm information or take emergency measures when a fault occurs. It analyzes the system status based on real-time data, determines whether there is a fault, and automatically isolates or restores the system.

8. The low-coupling real-time robot control software system according to claim 1, characterized in that: The interface and configuration module provides a unified user interface, allowing users to configure and adjust various parameters of the robot control system, including motion mode, task type, execution strategy, and supports hot plugging and remote debugging.

9. The low-coupling real-time robot control software system according to claim 1, characterized in that: The data acquisition module is used to collect real-time data from the robot's force sensors, visual sensors, accelerometers, and gyroscopes. The data acquisition module is connected to other modules through a standardized data interface to ensure low coupling between the modules.

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