Scalable general-purpose robot with integrated hardware and software and control method thereof

Abstract

This application proposes a software-hardware integrated scalable general robot and its control method, wherein the robot includes: an industrial computer, a mobile chassis, a mechanical arm, a variety of sensors and input-output devices, the industrial computer is electrically connected to the mobile chassis, the mechanical arm, a variety of sensors and input-output devices; the industrial computer is configured with an operating system and a robot application development platform, the robot application development platform is used to develop corresponding robot applications for task equipment; the operating system includes a chassis control service module, a mechanical arm control service module, a system service module and an input device communication service module. It provides a stable and reliable basic robot platform, provides a convenient way for the development of application robots, greatly reduces the development cycle and development cost, and reduces the development difficulty.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a hardware-software integrated expandable general-purpose robot and a control method thereof. Background Art

[0002] If you want to design, develop, and produce a composite robot that can work autonomously for a specific production scenario, it mainly includes research and development work in both hardware and software. Among them, there are many types of hardware, and the parameters and manufacturers of different types of devices vary greatly. It is difficult for a single team to design and produce a stable and usable whole machine. In terms of software, different manufacturers and models of hardware have different methods of software integration, and at the same time have certain operating system design and development capabilities. In addition, if it is to be applied to production scenarios, very professional technology and experience related to the scenario are also required. It can be seen that composite robots that can work autonomously in production scenarios have high technical requirements for the team, are difficult, and have a long development cycle and high cost.

[0003] The existing solutions mainly focus on the software solutions for robot control. Different hardware is classified and general software interface standards are defined. Hardware suppliers provide hardware and software that meets the standards. Developers who plan control algorithms and application developers design and implement different algorithms for standard interfaces without worrying about specific hardware. It can be seen that the above solutions have at least the following problems: they only focus on software and do not include hardware solutions, such as hardware selection; standardized solutions can only provide general capabilities. If new hardware, customized hardware or full use of hardware features are involved, developers need to solve them themselves; they only focus on robot control and algorithm development, and do not involve much basic operating system capabilities such as system upgrades, monitoring, and task scheduling, which require customized development for specific scenarios; the existing solutions only provide the most basic capabilities, and the stability of the system still needs to be solved by the integrator. Summary of the invention

[0004] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0005] To this end, the first purpose of this application is to propose a scalable general-purpose robot that integrates both hardware and software to improve the research and development efficiency of composite robots and reduce the difficulty and cost of research and development.

[0006] The second objective of this application is to provide a robot control method.

[0007] To achieve the above-mentioned purpose, the first embodiment of the present application proposes a hardware-software integrated expandable general-purpose robot, the robot comprising: at least one industrial computer, a mobile chassis, at least one mechanical arm, a plurality of sensors and input-output devices,

[0008] The industrial computer is installed on the mobile chassis, the mechanical arm is directly installed on the mobile chassis or installed on the mobile chassis through a trunk structure, and the mechanical arm is provided with a hardware expansion interface and a communication interface for installing task equipment;

[0009] The industrial control machine is electrically connected to the mobile chassis, the mechanical arm, the various sensors and the input and output devices;

[0010] The industrial computer is equipped with an operating system and a robot application development platform, and the robot application development platform is used to develop a corresponding robot application program for the task device; the operating system includes:

[0011] A chassis control service module, the chassis control service module is used to control the mobile chassis to move in response to the robot application corresponding to the task device;

[0012] A robot arm control service module, the robot arm control service module is used to control the robot arm to operate in response to the robot application corresponding to the task device;

[0013] System service module, which is used to provide application upgrade service, application management service, application installation service, hardware management service and system monitoring service;

[0014] The input device communication service module is used to respond to input and output device requests and call the services provided by the system service module.

[0015] In some implementations, the system service module includes:

[0016] A system upgrade service unit, the system upgrade service unit is used to provide an upgrade service for the robot application;

[0017] An application installation service unit, the application installation service unit is used to provide installation services for the robot application;

[0018] An application management service unit, the application management service unit is used to provide start, stop and restart services for the robot application;

[0019] A system monitoring service unit, the system monitoring service unit is used to provide the system monitoring service, the system monitoring service includes service status monitoring and network status monitoring; the service status monitoring includes service status monitoring of the system upgrade service unit, the application installation service unit, and the application management service unit.

[0020] In some implementations, the system service module further includes an alarm service unit, and the alarm service unit is configured to issue an alarm according to the monitoring result of the system monitoring service unit.

[0021] In some implementations, the robot control service module includes a robot communication service unit, a robot control service unit, and a robot control algorithm unit.

[0022] The robot arm control service unit responds to the calling request of the robot application, calls the robot arm control algorithm unit to obtain the robot arm control data, and sends the robot arm control instruction to the robot arm through the robot arm communication service unit.

[0023] In some implementations, the plurality of sensors include a planning control perception sensor, and the chassis control service module includes a chassis control service unit, a perception algorithm unit, a route planning control algorithm unit, a sensor communication service unit, and a chassis communication service unit;

[0024] The chassis control service unit is used to respond to the call request of the robot application, call the perception algorithm unit and the route planning control algorithm unit to obtain path planning data, and send control instructions to the mobile chassis through the chassis communication service unit based on the path planning data;

[0025] The perception algorithm unit and the route planning control algorithm unit obtain the first signal collected by the planning control perception sensor through the sensor communication service unit; and calculate the path planning data according to the first signal.

[0026] In some implementations, the input and output device is configured with a task management application unit, a status viewing unit, a robot management application unit, and an industrial computer communication service unit.

[0027] The task management application unit, the status viewing unit, and the robot management application unit are used to call the system service module through the industrial computer communication service unit and the input device communication service module in response to a customer request.

[0028] In some implementations, the operating system further includes a cloud communication service module, and the robot further includes a robot status viewing unit, a task status viewing unit, and an industrial computer communication service unit deployed on a cloud server.

[0029] The robot status viewing unit and the task status viewing unit are used to call the system service module in response to a customer request through the industrial computer communication service unit and the cloud communication service module in sequence.

[0030] In some implementations, the task equipment is one of a welder, a welding gun, a grinder, and a camera.

[0031] It can be seen that the hardware-software integrated expandable general-purpose robot of the above embodiment provides an integrated solution for hardware and software, and does not require users to perform secondary development.

[0032] To achieve the above-mentioned purpose, a second aspect of the present application provides a control method for a robot, wherein the robot is the hardware-software integrated expandable general-purpose robot as described in the first aspect, and the method comprises:

[0033] Starting the operating system of the robot and entering a standby state;

[0034] Starting the robot application corresponding to the task device;

[0035] In response to an application task issued based on the robot application, a movement instruction is issued to the chassis control service module through the operating system to move the mobile chassis to a target position;

[0036] In response to an application task issued based on the robot application program, an operation instruction is sent to the robot arm control service module through the operating system to enable the robot arm to perform an operation corresponding to the operation instruction.

[0037] In some implementations, the method further includes:

[0038] In response to an application upgrade request sent by a user, the operating system checks, through the application management service unit, whether a task corresponding to the robot application is being executed;

[0039] When no task is being executed, the application management service unit stops the robot application program;

[0040] installing a new version of the robot application program through the application installation service unit;

[0041] The new version of the robot application is started through the application management service unit, and if an exception occurs during the startup process, the robot application is rolled back to the previous version.

[0042] The software-hardware integrated scalable general-purpose robot and its control method provided by this application provide a stable and reliable basic robot platform from the perspective of hardware and software integration, and provide a convenient way for the development of application robots. It provides a general operating system and development platform, so that users only need to deal with professional-related matters, without the need to redesign and develop various systems, and do not need to consider non-professional-related software issues; thereby greatly reducing the development cycle and development cost of application robots, and reducing the difficulty of development; in addition, application robots for different types of work can develop reusable scalable general-purpose robots, reducing factory costs.

[0043] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0045] Figure 1 A schematic diagram of the communication connection of the hardware part of a hardware-software integrated expandable general-purpose robot provided in an embodiment of the present application;

[0046] Figure 2 A schematic diagram of the physical connection of the hardware part of a hardware-software integrated expandable general-purpose robot provided in an embodiment of the present application;

[0047] Figure 3 A schematic diagram of the composition of the software part of a hardware-software integrated expandable general-purpose robot provided in an embodiment of the present application;

[0048] Figure 4 A schematic diagram of the relationship between the hardware and software of a general-purpose robot with integrated hardware and software and the hardware and software to be expanded provided in an embodiment of the present application;

[0049] Figure 5 A schematic diagram of the workflow of a hardware-software-integrated expandable general-purpose robot provided in an embodiment of the present application;

[0050] Figure 6 A schematic flow chart of a control method for a hardware-software integrated scalable general-purpose robot provided in an embodiment of the present application;

[0051] Figure 7 This is an example flowchart of a control method for a hardware-software integrated expandable general-purpose robot provided in an embodiment of the present application.

[0052] Figure 8 An example flowchart of an application software upgrade method for an expandable general-purpose robot with integrated hardware and software provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0054] The following describes the hardware-software integrated expandable general-purpose robot and its control method according to an embodiment of the present application with reference to the accompanying drawings.

[0055] The present application embodiment provides a general-purpose robot that integrates software and hardware. Figure 1 As shown, the hardware-software integrated expandable general-purpose robot includes: at least one industrial computer, a mobile chassis, at least one robotic arm, a variety of sensors and input-output devices, and the industrial computer is electrically connected to the mobile chassis, the robotic arm, the various sensors and input-output devices.

[0056] like Figure 2 As shown, the industrial computer is installed on the mobile chassis, the robotic arm is directly installed on the mobile chassis or installed on the mobile chassis through a trunk structure, and the robotic arm is provided with a hardware expansion interface and a communication interface for installing task equipment. Figure 2 The extended hardware in the figure is the hardware structure that needs to be installed when developing an application robot.

[0057] It should be noted that Figure 1 The task equipment in it belongs to the hardware structure that needs to be expanded when developing an application robot based on the hardware-software integrated expandable general-purpose robot of the embodiment of the application. According to the requirements of different working scenarios, the corresponding task equipment, that is, the expanded hardware, can be installed on the robot arm, and the sensors that need to be expanded can also be installed on the torso structure or the mobile chassis.

[0058] Exemplarily, the expansion hardware may be production tools such as a welder, a welding gun, a grinder, and a camera.

[0059] Exemplarily, the hardware part of the hardware-software integrated expandable general-purpose robot mainly includes a mobile chassis, perception and planning sensors, a robotic arm (execution unit), a group of computing units, and task publishing and management equipment; wherein, the mobile chassis and the robotic arm are both designed with hardware expansion interfaces and communication interfaces.

[0060] Therefore, the embodiment of the present application provides complete hardware that meets the requirements of robot software, solving the problems of robot hardware selection, design and production. Based on this hardware, a composite robot that can work autonomously for a specific production scenario is designed, developed and produced. The hardware solution can be completed by simply installing the task equipment that needs to be expanded on the robot arm.

[0061] like Figure 3 As shown, the industrial computer is equipped with an operating system and a robot application development platform, and the robot application development platform is used to develop corresponding robot applications for task equipment; Figure 3 The example of software and hardware expansion corresponding to the application scenario when expanding the camera and welding machine / welding gun is shown in the figure. The operating system includes: chassis control service module, robot arm control service module, system service module and input device communication service module. Among them, the chassis control service module is used to respond to the robot application corresponding to the task device to control the mobile chassis to move; the robot arm control service module is used to respond to the robot application corresponding to the task device to control the robot arm to operate; the system service module is used to provide application upgrade service, application management service, application installation service, hardware management service and system monitoring service; the input device communication service module is used to respond to input and output device requests and call the services provided by the system service module.

[0062] It should be noted that in terms of hardware, the task equipment needs to be expanded, and in terms of software solutions, the application corresponding to the task equipment needs to be configured on the industrial computer.

[0063] Exemplarily, the software part of the hardware-software integrated scalable general-purpose robot mainly includes: operating system and robot application development platform and related tool chain, robot state management system, task distribution and management system, etc.; among them, the operating system includes the access of all devices and sensors, as well as algorithms such as perception, navigation and robot control, system monitoring, error recovery, upgrade and other system components.

[0064] It can be seen that to develop an application robot based on the extensible general-purpose robot in the embodiment of the present application, it is only necessary to develop a corresponding robot application program for the task equipment required for the operation through the robot application development platform.

[0065] like Figure 4 As shown in the figure, the scalable general-purpose robot in this application has provided the operating system, auxiliary system and hardware parts in the figure, and the application robot developer only needs to solve the problem based on this. Figure 4 The production tools and applications section. Figure 5 As shown, the scalable general-purpose robot of the present application can realize task input, task management and issuance, task decomposition, navigation to the destination and robotic arm control, and the application robot developer only needs to solve the development of the action link of the production tool part.

[0066] By implementing the hardware-software integrated scalable general-purpose robot of the embodiment of the present application, a stable and reliable basic robot platform is provided from the perspective of hardware and software integration, providing a convenient way for the development of application robots. A general operating system and development platform are provided, so that users only need to deal with professional-related matters, without the need to redesign and develop various systems, and without considering non-professional-related software issues; thereby greatly reducing the development cycle and development cost of application robots, and reducing the difficulty of development; in addition, application robots for different types of work can be reusable and scalable general-purpose robots, reducing factory costs.

[0067] The system service module includes a system upgrade service unit, an application installation service unit, an application management service unit and a system monitoring service unit, wherein the system upgrade service unit is used to provide upgrade services for robot applications; the application installation service unit is used to provide installation services for robot applications; the application management service unit is used to provide start, stop and restart services for robot applications; the system monitoring service unit is used to provide system monitoring services, and the system monitoring services include service status monitoring and network status monitoring; service status monitoring includes service status monitoring of the system upgrade service unit, the application installation service unit and the application management service unit.

[0068] In some embodiments, the system service module further includes an alarm service unit, and the alarm service unit is used to issue an alarm according to the monitoring result of the system monitoring service unit.

[0069] In some embodiments, Figure 3 As shown, the robot arm control service module includes a robot arm communication service unit, a robot arm control service unit and a robot arm control algorithm unit.

[0070] The robot arm control service unit responds to the call request of the robot application program, calls the robot arm control algorithm unit to obtain the robot arm control data, and sends the robot arm control instruction to the robot arm through the robot arm communication service unit.

[0071] In some embodiments, Figure 3 As shown, the various sensors include a planning control perception sensor, and the chassis control service module includes a chassis control service unit, a perception algorithm unit, a route planning control algorithm unit, a sensor communication service unit, and a chassis communication service unit;

[0072] The chassis control service unit is used to respond to the call request of the robot application, call the perception algorithm unit and the route planning control algorithm unit to obtain the path planning data, and send the control instruction to the mobile chassis through the chassis communication service unit based on the path planning data;

[0073] The perception algorithm unit and the route planning control algorithm unit obtain the first signal collected by the planning control perception sensor through the sensor communication service unit; and calculate the path planning data according to the first signal.

[0074] In some embodiments, Figure 3 As shown, the input and output devices are configured with a task management application unit, a status viewing unit, a robot management application unit and an industrial computer communication service unit. The task management application unit, the status viewing unit and the robot management application unit are used to call the system service module through the industrial computer communication service unit and the input device communication service module in response to customer requests.

[0075] In some embodiments, Figure 3 As shown, the operating system also includes a cloud communication service module, and the robot also includes a robot status viewing unit, a task status viewing unit and an industrial computer communication service unit deployed on the cloud server. The robot status viewing unit and the task status viewing unit are used to call the system service module in response to customer requests through the industrial computer communication service unit and the cloud communication service module in sequence.

[0076] The above describes the hardware and software aspects of the expandable general-purpose robot with integrated hardware and software of the embodiment of the present application. The following describes the control method of the expandable general-purpose robot with integrated hardware and software.

[0077] The present application also provides a robot control method, such as Figure 6 As shown, the robot is a soft-hard integrated expandable general-purpose robot described in the above embodiment, and the method includes:

[0078] Step 101, start the robot's operating system and enter standby mode.

[0079] Step 102: Start the robot application corresponding to the task device.

[0080] Step 103, in response to the application task issued by the robot application program, a movement instruction is initiated to the chassis control service module through the operating system to move the mobile chassis to the target position.

[0081] Step 104, in response to the application task issued based on the robot application program, an operation instruction is sent to the robot arm control service module through the operating system to make the robot arm perform the operation corresponding to the operation instruction.

[0082] In order to clearly illustrate the above method embodiment, a specific example is now provided for illustration. Figure 7 This is a flow chart of a robot control method provided by an embodiment of the present application. Figure 7As shown, the robot control method of the present application is applied to a scalable general-purpose robot with integrated hardware and software, and the method includes:

[0083] Start the robot;

[0084] Start the system monitoring service unit to detect whether there is an abnormality in the operating system, and send an alarm message through the alarm service unit when there is an abnormality in the operating system;

[0085] Start the hardware management service unit;

[0086] Start each hardware control service to perform hardware self-check. If the self-check fails, an alarm message is issued through the alarm service unit. Each hardware control service includes a robot control service module and a chassis control service module.

[0087] Start the application state management service unit and enter the standby state;

[0088] Start the robot application by controlling the device; for example, a worker starts a welding application;

[0089] Communicate with the operating system through the control device so that the application state management service unit starts the robot application of the robot body;

[0090] A robot application that receives application tasks through a control device and forwards them to the robot body;

[0091] The robot application of the robot body sends a movement instruction to the chassis control service module through the operating system according to the application task, so as to move the mobile chassis to the target position;

[0092] The robot application of the robot body sends an operation instruction to the robot arm control service module through the operating system according to the application task, so that the robot arm executes the operation corresponding to the operation instruction.

[0093] In some embodiments, the control method also includes an upgrade method of the robot application, such as Figure 8 As shown, the upgrade method includes the following contents:

[0094] In response to the application upgrade request sent by the user, the operating system checks whether there is a task corresponding to the robot application being executed through the application management service unit. Exemplarily, the control device sends an upgrade request to the system service module, and the operating system checks whether there is a task being executed through the application management service unit.

[0095] In the case where no tasks are being executed, the application management service unit stops the robot application.

[0096] Install new versions of the Robot application through the Application Installation Service unit.

[0097] The new version of the robot application is started through the application management service unit, and if an exception occurs during the startup process, the robot application is rolled back to the previous version.

[0098] The collection, storage, use, processing, transmission, provision and disclosure of user personal information involved in this application are in compliance with relevant laws and regulations and do not violate public order and good morals.

[0099] It should be noted that personal information from users should be collected for legitimate and reasonable purposes and should not be shared or sold outside of these legitimate uses. In addition, such collection / sharing should be carried out after receiving the user's informed consent, including but not limited to notifying the user to read the user agreement / user notice and sign the agreement / authorization including authorization of relevant user information before the user uses the function. In addition, any necessary steps should be taken to protect and safeguard access to such personal information data and ensure that others who have access to personal information data comply with its privacy policy and procedures.

[0100] The present application is expected to provide an implementation scheme for users to selectively block the use or access of personal information data. That is, the present disclosure is expected to provide hardware and / or software to prevent or block access to such personal information data. Once the personal information data is no longer needed, the risk can be minimized by limiting data collection and deleting the data. In addition, when applicable, such personal information is de-identified to protect the privacy of the user.

[0101] In the description of the aforementioned embodiments, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they contradict each other.

[0102] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0103] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0104] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0105] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0106] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0107] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0108] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A universal robot with integrated hardware and software, characterized in that: The robot includes: at least one industrial computer, a mobile chassis, at least one mechanical arm, multiple sensors and input and output devices, The industrial computer is installed on the mobile chassis, the mechanical arm is directly installed on the mobile chassis or installed on the mobile chassis through a trunk structure, and the mechanical arm is provided with a hardware expansion interface and a communication interface for installing task equipment; The industrial control machine is electrically connected to the mobile chassis, the mechanical arm, the various sensors and the input and output devices; The industrial computer is equipped with an operating system and a robot application development platform, and the robot application development platform is used to develop a corresponding robot application program for the task device; the operating system includes: A chassis control service module, the chassis control service module is used to control the mobile chassis to move in response to the robot application corresponding to the task device; A robot arm control service module, the robot arm control service module is used to control the robot arm to operate in response to the robot application corresponding to the task device; System service module, which is used to provide application upgrade service, application management service, application installation service, hardware management service and system monitoring service; An input device communication service module, used to respond to input and output device requests and call the services provided by the system service module; The system service module includes: A system upgrade service unit, the system upgrade service unit is used to provide an upgrade service for the robot application; An application installation service unit, the application installation service unit is used to provide installation services for the robot application; An application management service unit, the application management service unit is used to provide start, stop and restart services for the robot application; A system monitoring service unit, the system monitoring service unit is used to provide the system monitoring service, the system monitoring service includes service status monitoring and network status monitoring; the service status monitoring includes service status monitoring of the system upgrade service unit, the application installation service unit, and the application management service unit; The input and output device is configured with a task management application unit, a status viewing unit, a robot management application unit and an industrial computer communication service unit. The task management application unit, the status viewing unit, and the robot management application unit are used to call the system service module through the industrial computer communication service unit and the input device communication service module in response to a customer request; The robot control service module includes a robot communication service unit, a robot control service unit and a robot control algorithm unit. The robot arm control service unit responds to the call request of the robot application, calls the robot arm control algorithm unit to obtain the robot arm control data, and sends the robot arm control instruction to the robot arm through the robot arm communication service unit; The multiple sensors include a planning control perception sensor, and the chassis control service module includes a chassis control service unit, a perception algorithm unit, a route planning control algorithm unit, a sensor communication service unit, and a chassis communication service unit; The chassis control service unit is used to respond to the call request of the robot application, call the perception algorithm unit and the route planning control algorithm unit to obtain path planning data, and send control instructions to the mobile chassis through the chassis communication service unit based on the path planning data; The perception algorithm unit and the route planning control algorithm unit obtain the first signal collected by the planning control perception sensor through the sensor communication service unit; and calculate the path planning data according to the first signal; The operating system further includes a cloud communication service module, and the robot further includes a robot status viewing unit, a task status viewing unit and an industrial computer communication service unit deployed on a cloud server. The robot status viewing unit and the task status viewing unit are used to call the system service module in response to a customer request through the industrial computer communication service unit and the cloud communication service module in sequence.

2. The robot according to claim 1, characterized in that: The system service module further includes an alarm service unit, and the alarm service unit is used to issue an alarm according to the monitoring result of the system monitoring service unit.

3. The robot according to claim 1, characterized in that: The task equipment is one of a welder, a welding gun, a grinder, and a camera.

4. A robot control method, characterized in that: The robot is a universal robot with hardware and software integrated into one according to any one of claims 1 to 3, and the method comprises: Starting the operating system of the robot and entering a standby state; Starting the robot application corresponding to the task device; In response to an application task issued based on the robot application, a movement instruction is issued to the chassis control service module through the operating system to move the mobile chassis to a target position; In response to an application task issued based on the robot application program, an operation instruction is sent to the robot arm control service module through the operating system to enable the robot arm to perform an operation corresponding to the operation instruction.

5. The method according to claim 4, characterized in that The robot is the hardware-software integrated expandable general-purpose robot according to claim 1, and the method further comprises: In response to an application upgrade request sent by a user, the operating system checks, through the application management service unit, whether a task corresponding to the robot application is being executed; When no task is being executed, the application management service unit stops the robot application program; installing a new version of the robot application program through the application installation service unit; The new version of the robot application is started through the application management service unit, and if an exception occurs during the startup process, the robot application is rolled back to the previous version.

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