Service robot design method and system based on modular simulation

Abstract

The invention discloses a service robot design method and system based on modular simulation, and relates to the technical field of robot design, and the method comprises the steps: determining the total service function and performance index of a service robot according to a work task and a work environment; dividing the total service function into a plurality of independent sub-functions, and constructing a target module of each sub-function; according to the performance indexes, matching an optimal module of each target module from a preset module library to serve as a simulation module; constructing a structural relationship and a data exchange form among the simulation modules according to the environment characteristics, and mapping the environment characteristics into an analog simulation environment; based on an analog simulation environment, performing unit testing and adjustment on each simulation module, and then performing assembly testing and adjustment to obtain a three-dimensional simulation model and an assembly drawing of the service robot; and finally, debugging an installation component, an operation system and a software function component of the entity service robot. The design efficiency of the service robot can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot design, and in particular to a service robot design method and system based on modular simulation. Background Art

[0002] With the advancement of science and technology and the development of society, service robots are widely used in various fields such as medical care, catering, entertainment, education, and home services. Users' specific requirements for service robots are becoming more and more diversified. Correspondingly, the development and design of service robots are becoming more and more difficult, and the development costs are also increasing. At present, the development and design of service robots face challenges in terms of technical complexity, diversity of market demand, strictness of safety standards, safety ethics considerations, and laws and regulations. Summary of the invention

[0003] In order to solve the problems existing in the prior art, the present invention provides a service robot design method and system based on modular simulation, which can improve the design efficiency of the service robot, reduce development costs, enhance maintainability and scalability, and accelerate market application.

[0004] A service robot design method based on modular simulation, comprising:

[0005] Determine the overall service functions and performance indicators of the service robot based on the work tasks and working environment;

[0006] Divide the overall service function into multiple independent sub-functions, and construct target modules for each of the sub-functions; the target modules are divided into motion modules, task modules or auxiliary modules according to their functions;

[0007] According to the performance index, the optimal module of each target module is matched from a preset module library to serve as a simulation module;

[0008] According to the environmental characteristics of the working environment, the structural relationship and data exchange form between the various simulation modules are constructed, and the environmental characteristics are mapped to the simulated environment of the simulation environment test platform; the structural relationship includes: physical relationship, topological relationship and internal control relationship; the environmental characteristics include: temperature, humidity, light and obstacle distribution;

[0009] Based on the simulation environment, unit testing and adjustment are performed on each simulation module so that each target module can complete its expected work; the simulation test includes functional testing and performance testing;

[0010] Pre-assembling the components of each simulation module that has completed the preliminary simulation test and adjustment, and performing assembly test and adjustment to obtain a three-dimensional simulation model of the service robot;

[0011] generating an assembly drawing corresponding to the three-dimensional simulation model;

[0012] According to user requirements and the performance indicators, the installation components, operating system and software functional components of the physical service robot are debugged to obtain the final service robot; the physical service robot is physically assembled according to the assembly drawing.

[0013] Optionally, the module library construction process includes:

[0014] Importing the key components of the modeled service robot and the modules composed of the key components into the simulation platform to archive them as modules to be inspected;

[0015] According to the functional requirements of the service robot, whether there is a required module matching the module to be inspected in the module library is searched; if the search is found, whether the required module has attribute information is queried, if so, the required module is stored in the module library and imported into the simulation platform, if not, the corresponding attribute information is extracted from the pre-stored file, and then the required module with the attribute information added is stored in the module library and imported into the simulation platform; the pre-stored files include: instructions, description documents and engineering files;

[0016] If the search does not exist, then search whether there is a lower-level module. If so, take the lower-level module as the required module. If not, determine the property requirement range according to the instruction manual of the required module. Then, determine the key indicators of the required module according to the corresponding international / domestic / industry standards, and judge whether the key indicators meet the property requirement range. If they meet, store them in the module library and import them into the simulation platform. If they do not meet, perform simulation verification. If the simulation verification passes, store the module in the module library and import it into the simulation platform. If the simulation verification fails, archive the module as a new module to be tested, and use the new module to be tested to update the module library.

[0017] Optionally, each module in the module library is encoded and stored according to a preset coding rule; the preset coding rule is that the first code position is the first spelling of the classification name, the second code position is the function description, the third code position is the module model, the fourth code position is the module size, and the fifth code position is the complete name of the module.

[0018] Optionally, the matching degree between the new module to be inspected and the current module in the module library is determined using the following formula:

[0019]

[0020] Among them, ω k represents the relevant weight coefficient of attribute k, f i Indicates a new module to be inspected, f j Indicates the current module.

[0021] Optionally, updating the module library using the new module to be inspected includes:

[0022] Compare the matching degree r ij The size of the preset matching degree threshold λ, if r ij <λ, then the new module to be tested is simulated and verified. If the verification is successful, the new module to be tested is encoded and added to the module library. Otherwise, it is archived as a new module to be tested. If r ij ≥λ, the attribute information of the current module is corrected and updated in combination with the simulation results.

[0023] Optionally, according to the functional requirements of the service robot, searching the modules to be inspected to see whether there is a matching required module includes:

[0024] According to the attribute information of the required module, the matching degree threshold of the first search condition is set to λ 1 , and combined with the environmental feature value and the attribute information of the required module, the matching degree threshold of the second search condition is set to λ 2 ; Among them, λ 1 <λ 2 ; Set f i is the storage module in the module library, f j For user-required modules, f i With f j The degree of matching between them satisfies the formula Among them, ω k represents the relevant weight coefficient of attribute k,

[0025] If r ij ≥λ 2 , then the current module selected in the module library is considered to match; if λ 1 ≤r ij <λ 2 , then determine whether to adjust the current module according to user needs and simulation results; if r ij <λ 1 , it is considered that there is no match and continues to filter from the module library.

[0026] The present invention also provides a service robot design system based on modular simulation, comprising:

[0027] A function and index determination module is used to determine the overall service function and performance index of the service robot according to the work task and working environment;

[0028] A module design and construction module, used to divide the overall service function into a plurality of independent sub-functions and construct a target module for each of the sub-functions; the target module is divided into a motion module, a task module or an auxiliary module according to its function;

[0029] A retrieval and matching module, used to match the optimal module of each target module from a preset module library according to the performance index to serve as a simulation module;

[0030] The environment mapping and adjustment module is used to construct the structural relationship and data exchange form between the various simulation modules according to the environmental characteristics of the working environment, and map the environmental characteristics to the simulated environment of the simulation environment test platform; the structural relationship includes: physical relationship, topological relationship and internal control relationship; the environmental characteristics include: temperature, humidity, light and obstacle distribution;

[0031] A unit test and adjustment module, based on the simulation environment, performs unit tests and adjustments on each simulation module so that each target module can complete its expected work; the simulation test includes functional testing and performance testing;

[0032] An assembly test and adjustment module is used to pre-assemble the components of each simulation module that has completed the preliminary simulation test and adjustment, and to perform assembly test and adjustment to obtain a three-dimensional simulation model of the service robot;

[0033] An assembly drawing generation module, used to generate an assembly drawing corresponding to the three-dimensional simulation model;

[0034] The debugging module is used to debug the installation components, operating system and software functional components of the physical service robot according to user requirements and the performance indicators to obtain the final service robot; the physical service robot is physically assembled according to the assembly drawing.

[0035] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0036] The modular simulation-based service robot design method provided by the present invention can reduce the difficulty of designing and verifying the service robot, reduce the development cost of designing and verifying, and provide convenience for subsequent maintenance and upgrading, compared with the existing non-modular overall construction method. In addition, the method provided by the present invention closely combines modularization with the simulation verification process, which can not only effectively ensure the efficiency of service robot design implementation, but also quickly discover and solve problems, improve the efficiency of the overall design of the service robot, and realize the functions and performance of lightweight and modular management of the service robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0038] Figure 1 A method flow chart of a service robot design method based on modular simulation shown in an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of the process stages of a service robot design method according to an embodiment of the present invention;

[0040] Figure 3 A schematic diagram of a modular design of a service robot according to an embodiment of the present invention;

[0041] Figure 4 A schematic diagram of a module library construction process according to an embodiment of the present invention;

[0042] Figure 5 A schematic diagram of coding rules for each module in a module library according to an embodiment of the present invention;

[0043] Figure 6 This is a schematic diagram of a modular design of a window cleaning robot according to an embodiment of the present invention;

[0044] Figure 7 This is a schematic diagram of the warehousing process of the communication module of the window cleaning robot shown in an embodiment of the present invention;

[0045] Figure 8 A schematic diagram of the module structure of a service robot design system based on modular simulation according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] 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.

[0047] The purpose of the present invention is to provide a service robot design method and system based on modular simulation, so as to improve the design efficiency of the service robot and reduce the development cost.

[0048] See also Figure 1 , Figure 1 Flowchart of the method for designing a modular simulation-based service robot.

[0049] Step 101: Determine the overall service function and performance indicators of the service robot according to the work task and work environment.

[0050] like Figure 2 As shown, the process of service robot design method can be divided into eight stages, including demand analysis and indicator confirmation, module modeling and modular design, module library construction, retrieval and update, environment mapping and model adjustment, module unit testing and verification, module assembly testing and verification, overall output and demand confirmation.

[0051] The above step 101 corresponds to the demand analysis and indicator confirmation in phase 1. In the application, the user's functional requirements for the service robot can be determined based on the user's specific requirements for the service robot's work tasks and working environment, and then the core functions and performance indicators that the service robot should have can be clarified, including all functional requirements, performance requirements, user experience requirements and safety requirements.

[0052] Step 102: Divide the overall service function into multiple independent sub-functions, and construct target modules for each sub-function; the target modules are divided into motion modules, task modules or auxiliary modules according to their functions.

[0053] The above step 102 corresponds to the module modeling and modular design of phase 2; in the early stage of module modeling, after clarifying the service functions and performance indicators of the service robot, the total service function of the service robot can be divided into multiple independent sub-functions, and the target modules of each sub-function can be constructed, and each target module should have specific functions and interfaces, so as to ensure that the various target modules can work together to achieve the overall service goal of the service robot. Through modular design, the independence, substitutability and scalability of the target modules are achieved. By adopting standardized interfaces and communication protocols, seamless docking between different target modules is achieved, ensuring efficient design of service robots that meet different service needs. In addition, according to the actual application scenario, the target modules can be adaptively increased or reduced to improve the adaptability and flexibility of the robot.

[0054] In applications, the modules in the service robot can be divided into three groups according to their functions: basic modules, core modules and auxiliary modules.

[0055] Among them, the basic module, namely the motion module, is to transport the robot to the working area and carry all the necessary modules required for the normal operation of the robot, which may include functional modules such as the energy module and the motion control module. The energy module supplies power to all electrical equipment of the entire robot. The motion control module may include a PC control center, some drivers, etc. The core module is the task module, whose function is to complete the work tasks of the service robot for the service object. The auxiliary module is the module required to realize different functions of the service robot. For example, if the environmental detection and task detection functions are realized, a visualization function module needs to be added as an auxiliary module.

[0056] Furthermore, modeling tools are used to model the key components of each target module in detail, including processors, memory units, sensors, servo motors, transmission mechanisms, drive wheels, controllers, drivers, and communication interfaces.

[0057] like Figure 3 As shown in the figure, modularization is to classify and integrate the units with similar functions in the product to be designed, that is, to classify and integrate the key components that have been modeled to form several modules that are relatively independent in structure and function, and finally combine these modules organically. The core of the modular design of service robots is the division and combination of modules. According to functional requirements, the total functions of service robots are divided into basic functions, core functions and auxiliary functions, that is, corresponding to the basic modules, core modules and auxiliary modules divided above, and then these modules are reintegrated to build a modular service robot.

[0058] It should be noted that the modular design of service robots should meet the following principles:

[0059] 1) Each module should be functionally independent of other parts and be used to achieve a specific function;

[0060] 2) In terms of kinematics and dynamics, each module is relatively independent;

[0061] 3) Each module should define a clear interface to facilitate information exchange with other modules or systems.

[0062] Step 103: According to the performance index, the optimal module of each target module is matched from the preset module library to serve as the simulation module.

[0063] The above step 103 corresponds to the construction, retrieval and update of the module library in phase 3; in the application, the key components after modeling and the modules they constitute can be grouped into a module library, so as to facilitate the rapid acquisition of module information and simplify the subsequent design and testing work. Furthermore, by simulating and analyzing the kinematics and dynamics of the module, optimizing the mechanical structure and control algorithm, and obtaining the optimized design parameter data of the module, the reuse, maintenance and upgrade of the module library can be ensured.

[0064] The construction of the module library is to collect the module properties of the service robot module, such as physical characteristics and electrical characteristics, and classify and place this information according to certain rules. First, the key components and their modules that have been modeled in the previous stage are imported into the simulation platform and archived as modules to be inspected. When a service robot needs to be customized, its functional requirements are analyzed and the required modules are retrieved from the modules to be inspected.

[0065] See also Figure 4 In one embodiment, the construction process of the above module library includes:

[0066] Import the key components of the modeled service robot and the modules composed of the key components into the simulation platform to archive them as modules to be inspected;

[0067] According to the functional requirements of the service robot, search whether there is a corresponding required module in the module to be inspected; if the search is found, query whether there is attribute information of the required module, if so, store the required module in the module library and import it into the simulation platform, if not, extract the corresponding attribute information from the pre-stored file, and then store the required module with the attribute information added in the module library and import it into the simulation platform; the pre-stored files include: manuals, description documents and engineering files;

[0068] If the search does not exist, then search whether there is a lower-level module. If so, take the lower-level module as the required module. If not, determine the attribute requirement range according to the instruction manual of the required module. Then, determine the key indicators of the required module according to the corresponding international / domestic / industry standards, and judge whether the key indicators meet the attribute requirement range. If they meet, store them in the module library and import them into the simulation platform. If they do not meet, perform simulation verification. If the simulation verification passes, store the module in the module library and import it into the simulation platform. If the simulation verification fails, archive the module as a new module to be tested, and update the module library with the new module to be tested.

[0069] In one embodiment, each module in the module library is encoded and stored according to a preset encoding rule; the preset encoding rule is that the first code position is the first spelling of the classification name, the second code position is the function description, the third code position is the module model, the fourth code position is the module size, and the fifth code position is the complete name of the module.

[0070] In order to facilitate the management of the module library in the later stage of application, the modules can be coded and described according to certain coding principles at the warehousing stage. The coding rules are as follows: Figure 5As shown. Taking Table 1 as an example, the sample module code in the table is YD. Communication module. Router. X-WIFI6e; the first code position is the overall module, which is named after the first spelling of the module name. According to the above, it can be divided into motion module (YD), task module (RW) and auxiliary module (FZ); the second code position is the functional module; the third code position is the module model, which can be represented by the product model provided by the enterprise; the fourth code position is the module size, which is represented by the four-digit length and four-digit width of the storage module, in millimeters; the fifth code position is the specific name of the product.

[0071] Table 1 Module coding reference table

[0072]

[0073] In the application, the module library retrieval function mainly includes the retrieval of the target module and the retrieval of the module to be tested. The retrieval function of the target module is used to match the optimal module required by the user, and the retrieval function of the module to be tested is used to update the current module library. Taking the retrieval of the module to be tested as an example, the retrieval function of the module library is as follows:

[0074] If the module to be tested f i With the module library current module f j If there is a certain relationship between them, then f i With f j Related, module to be tested f i With the module library current module f j The degree of correlation between them is called matching degree, expressed as r ij Indicates that r ij ∈(0,1), r ij ≠0. Obviously, when r ij = 1, the module to be tested completely matches the current module in the module library. Assuming that the module has n attributes, one of which is k, then the module to be tested f i With the module library current module f j The degree of match is:

[0075] Accordingly, in one embodiment, the following formula may be used to determine the degree of matching between the new module to be inspected and the current module in the module library:

[0076]

[0077] Among them, ω k represents the relevant weight coefficient of attribute k, f i Indicates a new module to be inspected, f j Indicates the current module.

[0078] ω kIt represents the importance of this attribute in terms of module functions, etc., and can be communicated with relevant technical experts. The specific value is calculated using the AHP method and should meet the requirement of ω 核心属性 >ω 接口属性 >ω 边缘属性 ,and

[0079] In one embodiment, the above-mentioned updating of the module library using the new module to be inspected includes:

[0080] Comparison of matching degree ij The size of the preset matching degree threshold λ, if r ij <λ, the new module to be tested is simulated and verified. If the verification is successful, the new module to be tested is encoded and added to the module library. Otherwise, it is archived as a new module to be tested. ij ≥λ, the attribute information of the current module is corrected and updated in combination with the simulation results.

[0081] In the application, the matching degree threshold that meets the search conditions can be set as λ. After successful verification, the new module to be inspected can be encoded and described according to the above encoding rules and then stored in the warehouse. Otherwise, it will continue to be archived as a module to be inspected.

[0082] Step 104: According to the environmental characteristics of the working environment, construct the structural relationship and data exchange form between the various simulation modules, and map the environmental characteristics to the simulated environment of the simulation environment test platform; the structural relationship includes: physical relationship, topological relationship and internal control relationship; the environmental characteristics include: temperature, humidity, light and obstacle distribution.

[0083] The above step 104 corresponds to the environmental mapping and model adjustment in stage 4; in applications, the working environment of the service robot not only directly affects the function realization and performance of the robot, but also affects the safety, durability and user experience of the robot. Therefore, during simulation verification, it is necessary to collect the characteristics of the service robot's working environment, such as temperature, humidity, light and obstacle distribution, etc., establish the physical, topological, internal control and other structural relationships and data exchange between modules, and map the collected environmental characteristics to the simulation environment.

[0084] Further, when the target module retrieval function is realized according to the module library retrieval function, f i is the storage module in the module library, f j The module required by the user. Based on the module attribute value determined in the demand phase, the matching degree threshold of the search condition is set to λ 1 Combined with the collected environmental feature values ​​and the required module attribute values, the matching degree threshold of the retrieval condition is set to λ 2 .

[0085] The above matching degree threshold satisfies λ1 <λ 2 If r ij ≥λ 2 , then it is considered a match; if λ 1 ≤r ij <λ 2 , it is considered to be basically matched. According to user needs and simulation results, you can choose whether to adjust the module; if r ij <λ 1 , it is considered that there is no match, and the module model will continue to be screened and adjusted from the module library to ensure its effectiveness and reliability in a specific environment.

[0086] Step 105: Based on the simulation environment, unit test and adjust each simulation module so that each target module can complete its expected work; simulation test includes function test and performance test.

[0087] The above step 105 corresponds to the unit test and verification of the module in stage 5; in the application, through the simulation environment test platform, preliminary functional testing and performance testing are carried out on each independent module, including the software / hardware functions of the module, data transmission and communication of the interface, etc., to verify whether it can complete the expected work, thereby ensuring that each module can independently and stably complete the functions of its design goals.

[0088] Step 106: Pre-assemble the components of each simulation module that has completed the preliminary simulation test and adjustment, and perform assembly testing and adjustment to obtain a three-dimensional simulation model of the service robot.

[0089] The above step 106 corresponds to the assembly test and verification of the module in stage 6; in the application, the components of the module can be pre-assembled according to the adjusted model. Functional testing and performance evaluation of the pre-assembled modules are performed in a simulation environment to ensure the compatibility and overall performance of the modules; the working environment of the service robot is simulated through a modular simulation and testing platform, and each module of the robot is independently and comprehensively tested and verified.

[0090] Step 107: Generate an assembly drawing corresponding to the three-dimensional simulation model.

[0091] The above step 107 corresponds to the overall output of stage 7; in the application, according to the specific requirements and functional requirements of the user for the service robot in stage 1, the successfully tested modules are converted into detailed assembly drawings to guide the assembly process of the service robot, and a pre-equipped three-dimensional model is output, including the complete three-dimensional structure of the robot and detailed views of each module, showing the steps and methods for the overall assembly of the robot modules, ensuring the correct assembly and functional realization of each module of the robot.

[0092] Step 108: According to user requirements and performance indicators, the installation components, operating system and software functional components of the physical service robot are debugged to obtain the final service robot; the physical service robot is physically assembled according to the assembly drawing.

[0093] The above step 108 corresponds to the requirement confirmation in stage 8; in the application, the service robot entity module is integrated, the service robot operating system and the corresponding software functional components are installed and debugged, and finally the required service robot system is integrated. Finally, the entire service robot system is verified according to the user requirements and performance indicators in stage 1 to ensure that all functional requirements of the user for the service robot system are met.

[0094] Below, taking the "window cleaning robot" as an example, the above-mentioned service robot design method based on modular simulation is further elaborated.

[0095] Phase 1: Demand Analysis and Index Confirmation

[0096] Mobile expansion capability: It can autonomously plan the cleaning path, sense the shape and size of the window in real time, and adjust the cleaning method and speed according to the actual situation;

[0097] Vibration function: It can generate subtle and high-frequency vibrations, which can effectively decompose stains and dirt on the surface of the window;

[0098] Water spray function: It should be equipped with an intelligent water spray system, which can automatically adjust the water spray volume and spray angle according to the degree of dirtiness of the windows and cleaning requirements.

[0099] Phase 2: Module modeling and modular design

[0100] The window cleaning robot can be divided into a mobile chassis module (basic module), a cleaning module (core module) and an auxiliary module.

[0101] The mobile chassis module includes functional modules such as power module, wheel module and control module.

[0102] The cleaning module includes main modules such as wiping module, water spraying module, cleaning liquid storage module, etc.

[0103] The auxiliary modules include vibration module, adsorption module, navigation module and safety protection module.

[0104] Use modeling tools to model the key components of each module in detail, including processors, memory units, sensors, servo motors, transmission mechanisms, drive wheels, controllers, drivers, and communication interfaces. Figure 6 .

[0105] Phase 3: Module library construction, retrieval and update

[0106] Taking the communication module as an example, in order to achieve functions such as satisfying user experience, ensuring communication stability and reliability, reducing delays, and improving cleaning efficiency, the window cleaning robot should transmit information such as cleaning progress and power status to the user during work, respond quickly to user commands, and avoid interference from other devices.

[0107] Assume that after searching, there is no relevant communication template in the module to be tested, and there is no relevant subordinate module. Then, the required module manual is retrieved to determine its property requirements: the minimum data transmission rate is 6.8Gbps, and the operating frequency band is 6GHz; the relevant international standards of WIFI7 are retrieved, and its key indicators include: interface description (802.11be), data exchange protocol (SOAP), maximum rate (30Gbps), operating frequency band (2.4 / 5 / 6GHz), bandwidth (20 / 40 / 80 / 160 / 320MHz), etc.

[0108] After comparison, the attribute value of WIFI7 meets the attribute requirements of the required communication module. The WIFI7 module is stored and imported into the simulation platform. The process can be seen in Figure 7 .

[0109] Phase 4: Environment Mapping and Model Adjustment

[0110] Collect the characteristics of the window-cleaning robot's working environment (such as a certain window), including the working area, glass surface characteristics, working height, corner distance of the window, etc., establish physical, topological, internal control and other structural relationships and data exchange between modules, and map the collected environmental characteristics into the simulation environment.

[0111] Take the adsorption module as an example. The adsorption module in this example consists of a suction cup and a vacuum pump. The relevant weight coefficients of different attributes are set as follows:

[0112] Core attributes (suction power of vacuum pump)ω 1 =0.5;

[0113] Properties of the connection interface between the vacuum pump and the suction cup (to ensure air tightness) 3 =0.3;

[0114] Edge properties (working noise)ω 4 =0.2.

[0115] Without considering the environmental characteristics, that is, without considering the impact of sudden wind or vibration, and the degree of disturbance to residents, the adsorption module matching degree threshold λ is set 1 =0.5, considering the environmental characteristics, that is, to avoid the risk of the window cleaning robot falling due to sudden wind or vibration, and at the same time not causing noise pollution, the adsorption module matching degree threshold is set to meet λ 2 =1.

[0116] The core attributes of a module are found to meet the requirements, while the interface attributes and edge attributes do not meet the requirements. The matching degree calculated by the above formula is:

[0117] r ij =ω 1 ×1+ω 2 ×0+ω 3 ×0=0.5

[0118] Then 1 ≤r ij <λ 2 , the module is basically matched. Assuming that the window cleaning robot is used in residential areas and the user has extremely high requirements for its working ability, the module is adjusted and replaced with a matching degree of r ij =1 module.

[0119] Phase 5: Unit testing and verification of modules

[0120] Through the simulation environment test platform, each independent module of the final selected window cleaning robot is subjected to preliminary functional and performance tests, including the module's software / hardware functions, interface data transmission and communication, etc., to verify whether its various modules can complete the expected work and ensure that each module can independently and stably complete the functions of its design goals.

[0121] Phase 6: Assembly, testing and verification of modules

[0122] According to the adjusted model, the components of the window cleaning robot module are preassembled. Functional testing and performance evaluation of the preassembled window cleaning robot module are carried out in a simulated environment to ensure the compatibility and overall performance of each module. Through the modular simulation and testing platform, the working environment of the window cleaning robot is simulated, and each module of the window cleaning robot is tested and verified independently and as a whole.

[0123] Phase 7: Overall Output

[0124] According to the user's specific requirements and functional needs for the window cleaning robot, the successfully tested modules are converted into detailed assembly drawings to guide the assembly process of the window cleaning robot, and the pre-equipped 3D model is output, including the complete 3D structure of the window cleaning robot and detailed views of each module, showing the steps and methods for the overall assembly of the window cleaning robot module to ensure the correct assembly and function realization of each module. The physical modules of the window cleaning robot are integrated, the window cleaning robot operating system and the corresponding software functional components are installed and debugged, and finally the required window cleaning robot system is integrated.

[0125] Phase 8: Requirements Verification

[0126] Finally, the entire window cleaning robot system is verified according to user needs and performance indicators to ensure that all functional requirements of the user for the window cleaning robot system are met.

[0127] Corresponding to the aforementioned application function realization method embodiment, the present invention also provides a service robot design system based on modular simulation and corresponding embodiments.

[0128] See also Figure 8 , Figure 8 The module structure diagram of the service robot design system is shown below. The service robot design system includes:

[0129] The function and index determination module 81 is used to determine the overall service function and performance index of the service robot according to the work task and the work environment;

[0130] The module design and construction module 82 is used to divide the overall service function into multiple independent sub-functions and construct the target module of each sub-function; the target module is divided into a motion module, a task module or an auxiliary module according to the function;

[0131] A search and matching module 83 is used to match the optimal module of each target module from a preset module library according to the performance index to serve as a simulation module;

[0132] The environment mapping and adjustment module 84 is used to construct the structural relationship and data exchange form between the various simulation modules according to the environmental characteristics of the working environment, and map the environmental characteristics to the simulation environment of the simulation environment test platform; the structural relationship includes: physical relationship, topological relationship and internal control relationship; the environmental characteristics include: temperature, humidity, light and obstacle distribution;

[0133] The unit test and adjustment module 85 performs unit test and adjustment on each simulation module based on the simulation environment so that each target module can complete its expected work; the simulation test includes function test and performance test;

[0134] The assembly test and adjustment module 86 is used to pre-assemble the components of each simulation module that has completed the preliminary simulation test and adjustment, and to perform assembly test and adjustment to obtain a three-dimensional simulation model of the service robot;

[0135] An assembly drawing generation module 87, used to generate an assembly drawing corresponding to the three-dimensional simulation model;

[0136] The debugging module 88 is used to debug the installation components, operating system and software functional components of the physical service robot according to user requirements and performance indicators to obtain the final service robot; the physical service robot is physically assembled according to the assembly drawing.

[0137] Regarding the system in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated again here.

[0138] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A service robot design method based on modular simulation, characterized in that: include: Determine the overall service functions and performance indicators of the service robot based on the work tasks and working environment; Divide the overall service function into multiple independent sub-functions, and construct target modules for each of the sub-functions; the target modules are divided into motion modules, task modules or auxiliary modules according to their functions; According to the performance index, the optimal module of each target module is matched from a preset module library to serve as a simulation module; According to the environmental characteristics of the working environment, the structural relationship and data exchange form between the various simulation modules are constructed, and the environmental characteristics are mapped to the simulated environment of the simulation environment test platform; the structural relationship includes: physical relationship, topological relationship and internal control relationship; the environmental characteristics include: temperature, humidity, light and obstacle distribution; Based on the simulation environment, unit testing and adjustment are performed on each simulation module so that each target module can complete its expected work; the simulation test includes functional testing and performance testing; Pre-assembling the components of each simulation module that has completed the preliminary simulation test and adjustment, and performing assembly test and adjustment to obtain a three-dimensional simulation model of the service robot; generating an assembly drawing corresponding to the three-dimensional simulation model; According to user requirements and the performance indicators, the installation components, operating system and software functional components of the physical service robot are debugged to obtain the final service robot; the physical service robot is physically assembled according to the assembly drawing.

2. A service robot design method based on modular simulation according to claim 1, characterized in that: The construction process of the module library includes: Importing the key components of the modeled service robot and the modules composed of the key components into the simulation platform to archive them as modules to be inspected; According to the functional requirements of the service robot, whether there is a required module matching the module to be inspected in the module library is searched; if the search is found, whether the required module has attribute information is queried, if so, the required module is stored in the module library and imported into the simulation platform, if not, the corresponding attribute information is extracted from the pre-stored file, and then the required module with the attribute information added is stored in the module library and imported into the simulation platform; the pre-stored files include: instructions, description documents and engineering files; If the search does not exist, then search whether there is a lower-level module. If so, take the lower-level module as the required module. If not, determine the property requirement range according to the instruction manual of the required module. Then, determine the key indicators of the required module according to the corresponding international / domestic / industry standards, and judge whether the key indicators meet the property requirement range. If they meet, store them in the module library and import them into the simulation platform. If they do not meet, perform simulation verification. If the simulation verification passes, store the module in the module library and import it into the simulation platform. If the simulation verification fails, archive the module as a new module to be tested, and use the new module to be tested to update the module library.

3. A service robot design method based on modular simulation according to claim 2, characterized in that: Each module in the module library is encoded and stored according to a preset encoding rule; the preset encoding rule is that the first code position is the first spelling of the classification name, the second code position is the function description, the third code position is the module model, the fourth code position is the module size, and the fifth code position is the complete name of the module.

4. A modular simulation-based service robot design method according to claim 3, characterized in that: The following formula is used to determine the matching degree between the new module to be tested and the current module in the module library: Among them, ω k represents the relevant weight coefficient of attribute k, f i Indicates a new module to be inspected, f j Indicates the current module.

5. A modular simulation-based service robot design method according to claim 4, characterized in that: The module library is updated using the new module to be inspected, including: Compare the matching degree r ij The size of the preset matching degree threshold λ, if r ij <λ, then the new module to be tested is simulated and verified. If the verification is successful, the new module to be tested is encoded and added to the module library. Otherwise, it is archived as a new module to be tested. If r ij ≥λ, the attribute information of the current module is corrected and updated in combination with the simulation results.

6. A service robot design method based on modular simulation according to claim 2, characterized in that: According to the functional requirements of the service robot, searching the modules to be inspected to see whether there is a matching required module includes: According to the attribute information of the required module, the matching degree threshold of the first search condition is set to λ1, and the matching degree threshold of the second search condition is set to λ2 in combination with the environmental feature value and the attribute information of the required module; wherein λ1<λ2; setting f i is the storage module in the module library, f j For user-required modules, f i With f j The degree of matching between them satisfies the formula Among them, ω k represents the relevant weight coefficient of attribute k, If r ij ≥λ2, the current module selected in the module library is considered to match; if λ1≤r ij <λ2, determine whether to adjust the current module according to user needs and simulation results; if r ij <λ1, it is considered that there is no match and the selection continues from the module library.

7. A service robot design system based on modular simulation, characterized in that: include: A function and index determination module is used to determine the overall service function and performance index of the service robot according to the work task and working environment; A module design and construction module, used to divide the overall service function into a plurality of independent sub-functions and construct a target module for each of the sub-functions; the target module is divided into a motion module, a task module or an auxiliary module according to its function; A retrieval and matching module, used to match the optimal module of each target module from a preset module library according to the performance index to serve as a simulation module; The environment mapping and adjustment module is used to construct the structural relationship and data exchange form between the various simulation modules according to the environmental characteristics of the working environment, and map the environmental characteristics to the simulated environment of the simulation environment test platform; the structural relationship includes: physical relationship, topological relationship and internal control relationship; the environmental characteristics include: temperature, humidity, light and obstacle distribution; A unit test and adjustment module, based on the simulation environment, performs unit tests and adjustments on each simulation module so that each target module can complete its expected work; the simulation test includes functional testing and performance testing; An assembly test and adjustment module is used to pre-assemble the components of each simulation module that has completed the preliminary simulation test and adjustment, and to perform assembly test and adjustment to obtain a three-dimensional simulation model of the service robot; An assembly drawing generation module, used to generate an assembly drawing corresponding to the three-dimensional simulation model; The debugging module is used to debug the installation components, operating system and software functional components of the physical service robot according to user requirements and the performance indicators to obtain the final service robot; the physical service robot is physically assembled according to the assembly drawing.

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