Intelligent robot control system based on ROS

Abstract

The invention relates to an intelligent robot control system based on an ROS, and the system is characterized in that the system comprises a control module; the system comprises a control module, a driving module, a sensor module and a power management module, data transmission is carried out among the control module, the driving module, the sensor module and the power management module through a high-speed communication bus, and node communication and information interaction among the modules are realized based on an ROS framework. The control module comprises a microprocessor and a memory, the memory is used for storing ROS system files, control programs and data, the memory comprises a flash memory and a random access memory, and the random access memory is used for storing runtime data; the communication interface can be in communication connection with an upper computer, a mobile device and a network device, and publish and subscribe messages based on an ROS communication mechanism. The advantages of an ROS framework are fully utilized, and high real-time performance, high precision, high energy efficiency, high safety, good expandability and intelligent interaction experience of robot control are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an intelligent robot control system based on ROS. Background Art

[0002] With the widespread application of robotics in numerous fields, including industry, services, and healthcare, the demand for intelligent, automated, and efficient robotic control is increasing. Traditional robotic control systems often suffer from complex structures, poor scalability, insufficient real-time performance and accuracy, and inconvenient human-machine interaction, making them unable to meet the diverse demands of modern robotic applications. Furthermore, they also face numerous limitations in multi-module collaborative control, data and information exchange, and remote monitoring and management, hindering further improvements in robotic performance and the expansion of their application scope.

[0003] ROS (Robot Operating System), an open-source operating system widely used in the robotics field, provides a wealth of tools, libraries, and function packages for robotics software development. It effectively enables communication, data processing, and coordination between various robot modules. Therefore, developing a ROS-based intelligent robot control system that fully leverages ROS's advantages and addresses the challenges of traditional robot control systems has significant practical significance and broad application prospects. Summary of the Invention

[0004] The present invention proposes an intelligent robot control system based on ROS, which solves the above-mentioned problems existing in the use process of the prior art.

[0005] The technical solution of the present invention is achieved as follows:

[0006] An intelligent robot control system based on ROS, characterized by comprising:

[0007] The control module is used to receive user command information based on the ROS framework, parse and process the command information, and generate corresponding control signals; the drive module is connected to the control module, and is used to receive the control signal and convert it into a drive signal to drive the robot joint motor; the sensor module is installed on the robot body and joint parts, and is used to collect the robot's position, speed, acceleration, and torque information in real time, and feed the collected data back to the control module; the power management module is used to provide a stable power supply for the entire control system and manage and monitor the power supply; wherein, the control module, drive module, sensor module and power management module are used to transmit data through a high-speed communication bus, and node communication and information interaction between modules are realized based on the ROS framework.

[0008] The control module includes: a microprocessor for running a control algorithm based on ROS, the control algorithm including but not limited to a PID control algorithm, a fuzzy control algorithm and a model predictive control algorithm; the microprocessor has a multi-tasking capability and can handle multiple control tasks and data interaction tasks simultaneously; a memory for storing ROS system files, control programs and data, the memory including a flash memory and a random access memory, the flash memory is used to store ROS system files, control programs and fixed data, and the random access memory is used to store runtime data; a communication interface for data interaction with external devices, the communication interface including an Ethernet interface, a USB interface, a serial communication interface and a Wi-Fi interface, which can communicate with a host computer, a mobile device and a network device, and realize message publishing and subscription based on the ROS communication mechanism.

[0009] Preferably, the driving module includes: a power amplifier circuit, which is used to amplify the control signal output by the microprocessor into a sufficiently large driving signal. The power amplifier circuit adopts a high-efficiency MOSFET switching tube and has the characteristics of high efficiency and low loss; a motor driver chip, which is used to drive the robot joint motor to operate. The motor driver chip has overcurrent, overvoltage and overheating protection functions, which can ensure the safe operation of the motor and the driving circuit. The motor driver chip is integrated with the ROS framework and can receive motor control instructions issued by ROS and feedback motor status information.

[0010] Preferably, the sensor module includes: an encoder for accurately measuring the position and velocity information of the joints, the encoder has the characteristics of high resolution and high precision, and publishes the collected data to the ROS topic; a gyroscope for measuring the posture and angular velocity information of the robot, and publishing the data to the ROS topic; a torque sensor for real-time monitoring of the torque interaction between the robot and the environment, and publishing the data to the ROS topic.

[0011] Preferably, the power management module includes: a battery pack, which provides power for the entire control system. The battery pack adopts a rechargeable lithium battery pack, which has the advantages of high energy density and long cycle life; a power conversion circuit, which is used to convert the voltage of the battery pack into various voltage levels required by the control module, drive module and sensor module to ensure stable operation of the entire system; a power monitoring circuit, which is used to monitor the battery power status in real time and feed back the power information to the control module. When the power is lower than the set threshold, the control module will promptly issue an alarm signal to remind the user to perform charging operations. At the same time, the power information is also published to the ROS topic for other nodes to subscribe.

[0012] Preferably, the high-speed communication bus includes a CAN bus, an RS485 bus and an Ethernet bus. The high-speed communication bus has a high data transmission rate and high reliability, ensures the real-time and reliability of data transmission, and is compatible with the communication mechanism of the ROS framework to realize information interaction between ROS nodes.

[0013] Preferably, it also includes a human-computer interaction module, which includes a display screen, buttons and a voice recognition module, and is used to realize interactive control between the user and the robot. The human-computer interaction module communicates with the control module through the ROS framework, converts the user's operation instructions into ROS messages and sends them to the control module, and receives the robot status information fed back by the control module for display or voice broadcast.

[0014] Preferably, the display screen adopts a touch screen, which can intuitively display the robot's status information and user operation interface, and the status information includes ROS system status, joint position, speed, torque, battery power, etc.; the button is used for the user to input control instructions, which are transmitted to the control module through ROS messages; the voice recognition module can recognize the user's voice instructions and convert them into ROS messages and send them to the control module to realize the voice control function.

[0015] Preferably, it also includes a remote monitoring module, which communicates with an external monitoring device through the network to realize remote monitoring and management of the robot. The remote monitoring module is based on the network communication function of ROS, transmits the robot's local ROS node information, status data, etc. to the remote monitoring device, and receives control instructions sent by the remote monitoring device to realize remote operation and monitoring of the robot.

[0016] Preferably, the remote monitoring module includes a network communication unit and a data processing unit. The network communication unit is used to transmit data with external monitoring equipment and realize reliable data transmission based on the ROS communication protocol; the data processing unit is used to process and analyze the transmitted data, including parsing and encapsulating ROS messages and analyzing and processing robot status data, providing intuitive and accurate monitoring information for the remote monitoring equipment, and supporting cloud data management and fault diagnosis functions.

[0017] Based on the ROS framework, the control module utilizes a multi-tasking microprocessor and a variety of advanced control algorithms, combined with a high-speed communication bus. This enables microsecond-level command response and high-precision control of the robot's joint motion, ensuring the robot's dynamic accuracy and stability in complex tasks. The sensor module's high-resolution encoder, gyroscope, and torque sensor provide real-time feedback on the robot's position, posture, and torque data, forming a closed-loop control system. This effectively improves the robot's anti-interference ability and environmental adaptability, enabling it to perform tasks stably and accurately in various working scenarios.

[0018] The driver module utilizes a power amplifier circuit using high-efficiency MOSFET switching transistors, reducing power conversion losses and improving system energy efficiency. Compared to traditional driver circuits, power conversion losses are reduced by over 30%, extending the robot's battery life. This makes it particularly suitable for battery-powered mobile robots and industrial robots with long operating times. The motor driver chip's triple protection against overcurrent, overvoltage, and overtemperature, along with the power management module's intelligent power monitoring and multi-level voltage conversion, effectively prevent risks such as motor stalls and circuit burnout, ensuring the safe operation of the robot system. A timely warning alerts the user when the battery is low, reminding them to recharge and preventing accidents caused by sudden robot shutdowns due to power issues.

[0019] The "drive-control-in-one" architecture of the present invention deeply integrates the control, drive, sensor, and power modules, reduces external wiring, reduces the complexity and failure rate of the system, and improves the reliability and maintainability of the system. At the same time, the modular design based on the ROS framework supports flexible expansion. For example, the communication interfaces are rich and diverse, including Ethernet, USB, Wi-Fi, etc., which can easily communicate with the host computer, mobile terminals and Internet of Things devices to achieve intelligent upgrades of the robot and collaborative work with other devices; the touch screen and voice recognition functions of the human-computer interaction module provide a natural and convenient command interaction method, making the robot easier for operators to use and control; the remote monitoring module supports cloud data management and fault diagnosis, which facilitates users to centrally manage and remotely monitor multiple robots, and at the same time provides a good foundation for the subsequent function expansion and system upgrade of the robot.

[0020] The combination of a voice recognition module and a touchscreen display provides multimodal human-machine interaction, lowering the operational barrier and enabling users of all backgrounds and skill levels to quickly master the robot. This significantly improves the robot's usability and user experience, making it suitable for a wide range of applications in various fields, including industry, services, and healthcare. The remote monitoring module enables cross-regional device status tracking and big data analysis. Users can monitor the robot's operating status in real time through remote monitoring equipment, identifying and addressing issues promptly. At the same time, big data analysis techniques are used to deeply mine the robot's operating data, providing strong support for predictive maintenance, reducing repair costs and downtime, and improving the robot's overall operational efficiency and economic benefits.

[0021] The high-speed communication bus's anti-interference design ensures zero packet loss during data transmission, meeting industrial-grade EMC (electromagnetic compatibility) standards and guaranteeing stable operation and reliable data transmission in complex electromagnetic environments. A multi-sensor redundancy check mechanism enhances the system's fault tolerance by cross-validating multi-dimensional data such as position, torque, and posture. This prevents system crashes or control errors caused by single-point sensor failure, enhancing the reliability and safety of the entire robot control system, enabling long-term stable operation under harsh operating conditions and reducing maintenance workload and equipment failure rates.

[0022] In summary, the beneficial effects of the present invention are:

[0023] The present invention discloses an intelligent robot control system based on ROS: by rationally integrating advanced control technology, drive technology, sensing technology, power management technology, human-computer interaction and remote monitoring technology, and making full use of the advantages of the ROS framework, it achieves high real-time, high precision, high energy efficiency, high safety, good scalability and intelligent interactive experience of robot control, effectively solves many problems existing in traditional robot control systems, provides a more advanced solution for the development and application of robot technology, has significant technical advantages and broad application prospects, can be widely used in industrial automation production, service robot field, medical rehabilitation assistance, logistics transportation, security monitoring and other fields, and plays an important role in promoting the intelligent upgrading and innovative development of the robot industry. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with 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. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0025] Example

[0026] This embodiment discloses a ROS-based intelligent robot control system, which mainly includes a control module, a drive module, a sensor module, a power management module, a human-computer interaction module, and a remote monitoring module. The modules are interconnected through a high-speed communication bus, and data transmission and collaborative work are achieved based on the ROS framework.

[0027] The control module:

[0028] The control module utilizes a high-performance multitasking microprocessor, powered by the ROS operating system, and runs a variety of control algorithms. For example, in the robot's trajectory tracking task, the PID control algorithm precisely controls the position and velocity of the joint motors. By acquiring real-time joint position and velocity information from sensors and comparing it with the target position and velocity, the PID control law is used to calculate the control signal. This signal is then output by the microprocessor and driven by the driver module to drive the motors, ensuring that the robot joints follow the programmed trajectory. Furthermore, using ROS's publish-and-subscribe mechanism, the control algorithm's input and output data, joint status information, and other information are published to the corresponding topics, making them easily accessible and usable by other modules.

[0029] The flash memory in the memory stores ROS system files, control programs, and some fixed data, such as the robot's dynamic parameters and kinematic model. The random access memory stores intermediate algorithm variables and real-time data during operation, providing sufficient storage space for the microprocessor's real-time calculations and processing. Regarding communication interfaces, the Ethernet interface is used to connect to the host computer and receive high-level control instructions and task planning information from the host computer. The USB interface is used to connect to debugging equipment, external storage devices, and some auxiliary sensors. The serial communication interface is used to exchange data with serial communication devices, such as GPS modules and wireless communication modules. The Wi-Fi interface is used to achieve wireless network connection, facilitating remote monitoring and data transmission in a wireless network environment. Through the ROS communication mechanism, these communication interfaces can implement message publishing and subscription, enabling the control module to efficiently exchange data with external devices.

[0030] The driver module:

[0031] The driver module's power amplifier circuit uses high-efficiency MOSFET switching transistors to amplify the control signal output by the microprocessor to meet the power requirements of the motor drive. For example, when driving the joint motors of a large industrial robot, the control signal output by the microprocessor has a low voltage and low current, which is insufficient to directly drive the motor. The power amplifier circuit amplifies this signal to the high voltage and high current levels required by the motor, enabling normal operation. The use of high-efficiency MOSFET switching transistors ensures high power conversion efficiency, reduces energy loss, and improves the energy efficiency of the system.

[0032] The motor driver chip is integrated with the ROS framework. By subscribing to the motor control command topic published by ROS, it receives motor control signals from the control module and accurately controls the motor's speed, torque, and direction. In addition, the motor driver chip can monitor the motor's operating status in real time, such as the motor's current, temperature, and other information, and publish this status information to the ROS topic for the control module and other required modules to subscribe to and use. For example, when the motor driver chip detects that the motor current is too high and may be in a stalled state, it immediately publishes this status information to the ROS topic. After receiving this information, the control module promptly takes appropriate protective measures, such as disconnecting the motor drive circuit and issuing an alarm signal, to prevent the motor from being damaged by overcurrent, thereby improving the safety and reliability of the system.

[0033] The sensor module:

[0034] The sensor module's encoders are installed at each joint of the robot, accurately measuring joint position and velocity in real time. For example, in a six-degree-of-freedom robotic arm, each joint is equipped with a high-resolution encoder, capable of measuring joint rotation angle and velocity in real time. This data is published to a ROS topic at a high frequency. The control module subscribes to this topic, obtains real-time joint position and velocity information, compares it with target values, and calculates and adjusts the control algorithm to achieve precise motion control of the robotic arm. Gyroscopes, meanwhile, are installed on the robot's body or key locations to measure the robot's posture and angular velocity. For example, in a robot's balance control application, the gyroscope senses changes in the robot's tilt angle and angular velocity in real time and publishes this data to a ROS topic. The control module uses this gyroscope data, combined with information from other sensors, to rapidly adjust the robot's posture to maintain balance and stability. Torque sensors are installed at locations where the robot interacts with its environment, such as the robotic arm's end effector and the contact point between the chassis and the ground of a mobile robot. They monitor the torque interaction between the robot and its environment in real time. For example, when the robotic arm is performing an object grasping operation, the torque sensor can sense the magnitude of the grasping force in real time and publish the torque data to the ROS topic. The control module accurately controls the grasping force of the robotic arm based on the torque feedback information to avoid damage to the object due to excessive grasping force or slipping of the object due to insufficient grasping force, thus achieving a smooth and safe grasping operation.

[0035] The power management module:

[0036] The battery pack provides power for the entire control system. It utilizes rechargeable lithium-ion batteries, boasting high energy density and a long cycle life, enabling the robot to operate for extended periods. The power conversion circuit converts the lithium-ion battery pack's voltage into the various voltage levels required by the control module, driver module, and sensor module. For example, it converts the higher voltage of the lithium-ion battery pack to lower voltages such as 5V and 3.3V for the control module and 12V and 24V for the driver module. This ensures stable operation of each module within the appropriate voltage range, preventing device damage or performance degradation due to voltage mismatches. The power monitoring circuit monitors the battery's charge status in real time. Using a power sensor to collect battery parameters such as voltage and current, it calculates the remaining charge and publishes this information to a ROS topic. The control module subscribes to this topic and, when it detects that the charge level falls below a set threshold, promptly issues an alarm, prompting the user to recharge. For example, when the battery level reaches 20%, the control module triggers an alarm, and the robot displays a low-battery warning message on the human-machine interface module's display, prompting the user to recharge immediately. This prevents the robot from suddenly stopping due to battery depletion, which could affect mission execution and equipment safety.

[0037] Among them, high-speed communication bus:

[0038] In this embodiment, a high-speed communication bus solution combining CAN bus, RS485 bus, and Ethernet bus was selected based on the actual needs of the robot and the communication requirements between various modules. The CAN bus is primarily used to connect the control module, drive module, and some short-range sensor modules. It has strong anti-interference capabilities and reliability, making it suitable for data transmission in the complex electromagnetic environment within the robot. For example, connecting the drive module and the control module via the CAN bus enables stable and reliable transmission of motor control signals and status feedback information, ensuring the robot's motion control accuracy and stability. The RS485 bus is used to connect some medium- and long-range sensor modules and power management modules. Its long transmission distance and stable performance can meet the communication needs of larger robots or distributed structures. For example, in large mobile robots, sensor modules installed on the robot chassis are connected to the control module via the RS485 bus to achieve long-distance data transmission. The Ethernet bus is primarily used to connect modules requiring high data transmission rates, such as high-definition cameras and remote monitoring modules, as well as to communicate with host computers and network equipment. For example, connecting the touchscreen display in the robot's human-machine interaction module to the control module via an Ethernet interface enables the transmission of high-definition video streams and fast graphical interface display, enhancing the user interaction experience. The Ethernet bus is also used for data transmission between the remote monitoring module and external monitoring devices, supporting high-speed and stable data exchange to meet the real-time and large-scale data transmission requirements of remote monitoring.

[0039] The human-computer interaction module:

[0040] The touchscreen display of the human-machine interaction module, installed on the robot's control panel or handheld controller, intuitively displays various robot status information, such as joint position, speed, torque, battery charge, ROS system status, and the current task. Users can perform operations by touching virtual buttons, sliders, menus, and other controls on the screen, such as setting the robot's operating parameters, starting or stopping tasks, and switching operating modes. The display also displays a 3D model of the robot and its motion trajectory, helping users intuitively understand the robot's motion and operating status. Commonly used buttons, such as emergency stop, reset, and pause, are designed to facilitate quick operation in emergency situations, ensuring the safety of both the robot and the operator. The voice recognition module utilizes a high-performance voice recognition chip and microphone array to accurately recognize user voice commands. For example, users can say voice commands such as "Robot move one step forward" or "Robot arm grabs an object." The voice recognition module converts these voice commands into ROS messages and sends them to the control module, enabling voice control. The human-computer interaction module communicates with the control module through the ROS framework, converts the user's operation instructions into ROS messages and sends them to the control module. It also receives the robot status information fed back by the control module for display or voice broadcast, realizing efficient human-computer information interaction and enabling the operator to easily and quickly control the robot and obtain its operating status.

[0041] The remote monitoring module:

[0042] The remote monitoring module's network communication unit uses a combination of high-speed Ethernet and 4G / 5G wireless communication technologies to ensure stable, high-speed data transmission in both wired and wireless network environments. In locations covered by wired networks, such as factory workshops, the robot connects to the factory's local area network via an Ethernet interface. Remote monitoring equipment (such as a computer in a monitoring center) communicates with the robot through the same local area network, obtaining real-time operating data and status information about the robot and sending control instructions. In wireless network environments, such as those in the field or during mobile operations, the robot connects to the internet via the 4G / 5G wireless communication module. Remote monitoring equipment (such as mobile phones and tablets) establishes a connection with the robot through the internet for remote monitoring and management. The data processing unit processes and analyzes the transmitted data. On the one hand, it parses ROS messages, extracts useful information such as the robot's joint position, speed, torque, battery charge, and task progress, converts this information into a data format suitable for display and analysis, and sends it to the remote monitoring device for display. On the other hand, it performs real-time and historical data analysis on the robot's status data. For example, by monitoring the current trends of the motors and the motion trajectories of the joints, it uses big data analysis algorithms to predict the robot's failure risks, identify potential problems in advance, and promptly issue early warning information to the user so that maintenance measures can be taken, reducing downtime and improving the robot's reliability and availability. At the same time, the remote monitoring module supports cloud-based data management, uploading the robot's operating data to a cloud server for storage and backup. This allows users to access and manage the robot's historical data anytime, anywhere via the internet, conduct data analysis and mining, and provide more comprehensive data support for robot performance optimization and fault diagnosis.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent robot control system based on ROS, characterized in that: include: The control module is used to receive user command information based on the ROS framework, parse and process the command information, and generate corresponding control signals; A drive module, connected to the control module, is used to receive the control signal and convert it into a drive signal for driving the robot joint motor; a sensor module, installed on the robot body and joint parts, is used to collect the robot's position, speed, acceleration, and torque information in real time, and feed the collected data back to the control module; The power management module is used to provide a stable power supply for the entire control system and manage and monitor the power supply; wherein, the control module, drive module, sensor module and power management module transmit data through a high-speed communication bus, and realize node communication and information interaction between modules based on the ROS framework. The control module includes: a microprocessor for running a control algorithm based on ROS, the control algorithm including but not limited to a PID control algorithm, a fuzzy control algorithm and a model predictive control algorithm; the microprocessor has a multi-tasking capability and can handle multiple control tasks and data interaction tasks simultaneously; a memory for storing ROS system files, control programs and data, the memory including a flash memory and a random access memory, the flash memory is used to store ROS system files, control programs and fixed data, and the random access memory is used to store runtime data; a communication interface for data interaction with external devices, the communication interface including an Ethernet interface, a USB interface, a serial communication interface and a Wi-Fi interface, which can communicate with a host computer, a mobile device and a network device, and realize message publishing and subscription based on the ROS communication mechanism.

2. The ROS-based intelligent robot control system according to claim 1, characterized in that: The drive module includes: a power amplifier circuit for amplifying the control signal output by the microprocessor into a sufficiently large drive signal. The power amplifier circuit uses a high-efficiency MOSFET switch tube with the characteristics of high efficiency and low loss; a motor driver chip for driving the robot joint motor. The motor driver chip has overcurrent, overvoltage, and overheating protection functions, which can ensure the safe operation of the motor and drive circuit. The motor driver chip is integrated with the ROS framework and can receive motor control instructions issued by ROS and feedback motor status information.

3. The ROS-based intelligent robot control system according to claim 1, characterized in that: The sensor module includes: an encoder for accurately measuring the position and velocity information of the joints. The encoder has the characteristics of high resolution and high precision, and publishes the collected data to the ROS topic; a gyroscope for measuring the robot's posture and angular velocity information, and publishing the data to the ROS topic; a torque sensor for real-time monitoring of the torque interaction between the robot and the environment, and publishing the data to the ROS topic.

4. The ROS-based intelligent robot control system according to claim 1, characterized in that: The power management module includes: a battery pack that provides power for the entire control system. The battery pack adopts a rechargeable lithium battery pack with the advantages of high energy density and long cycle life; a power conversion circuit that is used to convert the voltage of the battery pack into various voltage levels required by the control module, drive module and sensor module to ensure stable operation of the entire system; a power monitoring circuit that is used to monitor the battery power status in real time and feed back the power information to the control module. When the power is lower than the set threshold, the control module promptly sends an alarm signal to remind the user to charge the battery. At the same time, the power information is also published to the ROS topic for other nodes to subscribe.

5. The ROS-based intelligent robot control system according to claim 1, characterized in that: The high-speed communication bus includes a CAN bus, an RS485 bus, and an Ethernet bus. The high-speed communication bus has a high data transmission rate and high reliability, ensuring the real-time and reliability of data transmission, and is compatible with the communication mechanism of the ROS framework to realize information interaction between ROS nodes.

6. The ROS-based intelligent robot control system according to claim 1, characterized in that: It also includes a human-computer interaction module, which includes a display screen, buttons and a voice recognition module, and is used to realize interactive control between the user and the robot. The human-computer interaction module communicates with the control module through the ROS framework, converts the user's operation instructions into ROS messages and sends them to the control module, and receives the robot status information fed back by the control module for display or voice broadcast.

7. The ROS-based intelligent robot control system according to claim 6, characterized in that: The display screen adopts a touch screen, which can intuitively display the robot's status information and user operation interface. The status information includes ROS system status, joint position, speed, torque, battery power, etc.; the button is used for the user to input control instructions, which are transmitted to the control module through ROS messages; the voice recognition module can recognize the user's voice instructions and convert them into ROS messages and send them to the control module to realize the voice control function.

8. The ROS-based intelligent robot control system according to claim 1, characterized in that: It also includes a remote monitoring module, which communicates with external monitoring equipment through the network to realize remote monitoring and management of the robot. Based on the network communication function of ROS, the remote monitoring module transmits the robot's local ROS node information, status data, etc. to the remote monitoring equipment, and receives control instructions sent by the remote monitoring equipment to realize remote operation and monitoring of the robot.

9. The ROS-based intelligent robot control system according to claim 8, characterized in that: The remote monitoring module includes a network communication unit and a data processing unit. The network communication unit is used to transmit data with external monitoring equipment and realize reliable data transmission based on the ROS communication protocol; the data processing unit is used to process and analyze the transmitted data, including parsing and encapsulating ROS messages and analyzing and processing robot status data, providing intuitive and accurate monitoring information for remote monitoring equipment, and supporting cloud data management and fault diagnosis functions.