Expandable universal robot with integrated software and hardware, and control method therefor

Abstract

The present application relates to the technical field of robots. Provided are an expandable universal robot with integrated software and hardware, and a control method therefor. The robot comprises: an industrial personal computer, a mobile chassis, a mechanical arm, a variety of sensors, and input / output devices, wherein the industrial personal computer is electrically connected to the mobile chassis, the mechanical arm, the plurality of sensors, and the input / output devices; and the industrial personal computer is provided with an operating system and a robot application development platform, with the robot application development platform being configured to develop corresponding robot application programs for task devices, and the operating system comprising a chassis control service module, a mechanical arm control service module, a system service module, and an input device communication service module.

Description

Soft and hard integrated extensible general robot and control method thereof

[0001] Cross-reference to related applications

[0002] The present application claims priority to the Chinese patent application No. 202411132363.0, filed on August 19, 2024, entitled "Soft and hard integrated extensible general robot and control method thereof", of Beijing Xiaoyu Intelligent Technology Co., Ltd. TECHNICAL FIELD

[0003] The present application relates to the technical field of robots, and in particular to a soft and hard integrated extensible general robot and a control method thereof. BACKGROUND

[0004] If a composite robot for a specific production scene is to be designed, developed and produced, it mainly includes hardware and software research and development. Among them, the hardware is various, and the parameters and manufacturers of different types of devices are different. It is difficult for a single team to design and produce a stable and usable whole machine. Different manufacturers and models of hardware have different software integration methods, and have certain operating system design and development capabilities. In addition, if it is to be applied to a production scene, it also needs to use very professional technology and experience related to the scene. It can be seen that the composite robot for the production scene and the autonomous work has high technical requirements for the team, is difficult, has a long development cycle and high cost.

[0005] The existing scheme mainly focuses on the software solution of robot control. Different hardware is classified, a general software interface standard is defined, hardware suppliers provide hardware and software that meets the standard, and algorithm developers and application developers design and implement different algorithms according to the standard interface, without needing to care about specific hardware. SUMMARY

[0006] The present application aims to at least solve one of the technical problems in the related art to some extent.

[0007] To this end, a first object of the present application is to provide a soft and hard integrated extensible general robot to improve the research and development efficiency of the composite robot and reduce the research and development difficulty and cost.

[0008] A second object of the present application is to provide a control method of a robot.

[0009] To achieve the above-mentioned objects, a first aspect of the present application provides a soft and hard integrated extensible general robot, which comprises at least one industrial computer, a mobile chassis, at least one mechanical arm, a plurality of sensors and input and output devices,

[0010] The industrial computer is mounted on the mobile chassis, the mechanical arm is directly mounted on the mobile chassis or mounted on the mobile chassis through a trunk structure, and a hardware expansion interface and a communication interface for mounting a task device are arranged on the mechanical arm;

[0011] The industrial computer is electrically connected with the mobile chassis, the mechanical arm, the plurality of sensors and the input and output device;

[0012] An operating system and a robot application development platform are configured on the industrial computer, the robot application development platform is used for developing a corresponding robot application program for the task device, and the operating system comprises:

[0013] A chassis control service module is used for controlling the mobile chassis to move in response to the robot application program corresponding to the task device;

[0014] A mechanical arm control service module is used for controlling the mechanical arm to operate in response to the robot application program corresponding to the task device;

[0015] A system service module is used for providing application upgrade service, application management service, application installation service, hardware management service and system monitoring service;

[0016] An input device communication service module is used for calling the services provided by the system service module in response to an input and output device request.

[0017] In some implementations, the system service module comprises:

[0018] A system upgrade service unit is used for providing upgrade service of the robot application program;

[0019] An application installation service unit is used for providing installation service of the robot application program;

[0020] An application management service unit is used for providing start, stop and restart service of the robot application program;

[0021] A system monitoring service unit is used for providing the system monitoring service, and the system monitoring service comprises service state monitoring and network state monitoring; the service state monitoring comprises service state monitoring of the system upgrade service unit, the application installation service unit and the application management service unit.

[0022] In some implementations, the system service module further comprises an alarm service unit configured to send an alarm according to a monitoring result of the system monitoring service unit.

[0023] In some implementations, the mechanical arm control service module comprises a mechanical arm communication service unit, a mechanical arm control service unit and a mechanical arm control algorithm unit,

[0024] The mechanical arm control service unit is configured to, in response to a calling request of the robot application program, call the mechanical arm control algorithm unit to obtain mechanical arm control data, and send a mechanical arm control instruction to the mechanical arm through the mechanical arm communication service unit.

[0025] In some implementations, the plurality of sensors comprises a planning control perception sensor, and the chassis control service module comprises 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;

[0026] The chassis control service unit is configured to, in response to a calling request of the robot application program, call the perception algorithm unit and the route planning control algorithm unit to obtain path planning data, and send a control instruction to the mobile chassis based on the path planning data through the chassis communication service unit;

[0027] The perception algorithm unit and the route planning control algorithm unit are configured to obtain a 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.

[0028] In some implementations, the input and output device is configured with a task management application unit, a state viewing unit, a robot management application unit and an industrial computer communication service unit,

[0029] The task management application unit, the state viewing unit and the robot management application unit are configured to, in response to a client request, call the system service module through the industrial computer communication service unit and the input device communication service module.

[0030] In some implementations, the operating system further comprises a cloud communication service module, and the robot further comprises a robot state viewing unit, a task state viewing unit and an industrial computer communication service unit deployed on a cloud server,

[0031] The robot state viewing unit and the task state viewing unit are configured to, in response to a client request, call the system service module through the industrial computer communication service unit and the cloud communication service module in sequence.

[0032] In some implementations, the task device is one of a welding machine, a welding gun, a grinder, and a camera.

[0033] As can be seen, the soft and hard integrated extensible general robot of the above embodiments provides an integrated solution of hardware and software, and does not require secondary development by users.

[0034] To achieve the above object, the second aspect embodiment of the present application provides a control method of a robot, the robot being the soft and hard integrated extensible general robot of the first aspect, the method comprising:

[0035] starting an operating system of the robot to enter a standby state;

[0036] starting the robot application corresponding to the task device;

[0037] in response to an application task issued based on the robot application, issuing a moving instruction to the chassis control service module through the operating system to make the mobile chassis move to a target position;

[0038] in response to an application task issued based on the robot application, issuing an operation instruction to the mechanical arm control service module through the operating system to make the mechanical arm execute an operation corresponding to the operation instruction.

[0039] In some implementations, the method further comprises:

[0040] in response to an application upgrade request sent by a user, the operating system checks whether there is a task corresponding to the robot application being executed through the application management service unit;

[0041] in the case where there is no task being executed, the application management service unit stops the robot application;

[0042] installing a new version of the robot application through the application installation service unit;

[0043] starting the new version of the robot application through the application management service unit, and if an exception occurs during the starting process, rolling back to the previous version of the robot application.

[0044] The soft and hard integrated extensible general robot and the control method thereof provided in the application provide a stable and reliable basic robot platform from the aspect of hardware and software integration, and provide a convenient way for the development of application robots. A general operating system and development platform are provided, so that the user only needs to deal with professional related matters, without the need to redesign and develop various systems, and without the need to consider non-professional related software problems; thereby the development cycle and development cost of the application robots are greatly reduced, and the development difficulty is reduced; moreover, the application robots of different types can reuse and extend the general robot, thereby reducing the cost of the factory.

[0045] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following and / or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0046] The above and / or additional aspects and advantages of the application will become apparent and be readily appreciated from the following description, taken in conjunction with the accompanying drawings, in which:

[0047] Fig. 1 is a communication connection schematic diagram of the hardware part of the soft and hard integrated extensible general robot provided in the embodiment of the application;

[0048] Fig. 2 is a physical connection schematic diagram of the hardware part of the soft and hard integrated extensible general robot provided in the embodiment of the application;

[0049] Fig. 3 is a composition schematic diagram of the software part of the soft and hard integrated extensible general robot provided in the embodiment of the application;

[0050] Fig. 4 is a relationship schematic diagram between the body software and hardware of the soft and hard integrated extensible general robot and the software and hardware to be extended provided in the embodiment of the application;

[0051] Fig. 5 is a working flow schematic diagram of the soft and hard integrated extensible general robot provided in the embodiment of the application;

[0052] Fig. 6 is a flow schematic diagram of the control method of the soft and hard integrated extensible general robot provided in the embodiment of the application;

[0053] Fig. 7 is a flow example diagram of the control method of the soft and hard integrated extensible general robot provided in the embodiment of the application.

[0054] Fig. 8 is a flow example diagram of the application software upgrading method of the soft and hard integrated extensible general robot provided in the embodiment of the application. DETAILED DESCRIPTION

[0055] Embodiments of the present application are described below in detail with reference to the accompanying drawings, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0056] A soft and hard integrated extensible general robot and a control method thereof are described below with reference to the accompanying drawings.

[0057] The embodiment of the present application provides a soft and hard integrated extensible general robot. As shown in Figure 1, the soft and hard integrated extensible general robot comprises at least one industrial computer, a mobile chassis, at least one mechanical arm, a plurality of sensors and an input and output device, and the industrial computer is electrically connected to the mobile chassis, the mechanical arm, the plurality of sensors and the input and output device.

[0058] As shown in Figure 2, the industrial computer is installed on the mobile chassis, and 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 for installing a task device and a communication interface. The expansion hardware in Figure 2 is a hardware structure that needs to be installed when developing an application robot.

[0059] It should be noted that the task device in Figure 1 is a hardware structure that needs to be expanded when developing an application robot based on the soft and hard integrated extensible general robot of the embodiment of the present application, and corresponding task devices can be installed on the mechanical arm according to different work scene requirements, that is, the expansion hardware, and sensors that need to be expanded can also be installed on the trunk structure or the mobile chassis.

[0060] For example, the expansion hardware can be a welding machine, a welding gun, a sander and a camera, etc.

[0061] For example, the hardware part of the soft and hard integrated extensible general robot mainly comprises a mobile chassis, a perception and planning sensor, a mechanical arm (an execution unit), a group of computing units, a task publishing and management device; wherein the mobile chassis and the mechanical arm are both designed with a hardware expansion interface and a communication interface.

[0062] Therefore, the embodiment of the present application provides a complete hardware that meets the software requirements of a robot, and on the basis of the hardware, a composite robot that can work autonomously for a specific production scene is designed, developed and produced, and only the task device that needs to be expanded needs to be installed on the mechanical arm, so that the scheme of hardware is completed.

[0063] As shown in FIG. 3, the industrial computer is configured 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 a task device; FIG. 3 shows a hardware and software expansion example of the corresponding application scenario when the extension camera and the welding machine / welding gun are expanded. 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. The chassis control service module is used to control the mobile chassis to move in response to the corresponding robot application program of the task device; the mechanical arm control service module is used to control the mechanical arm to operate in response to the corresponding robot application program of the task device; the system service module is used to provide application upgrade service, application management service, application installation service, hardware management service, and system monitoring service; and the input device communication service module is used to respond to the input and output device request and call the services provided by the system service module.

[0064] It should be noted that the hardware needs to be expanded for the task device, and in the software scheme, the application program corresponding to the task device needs to be configured on the industrial computer.

[0065] For example, the software part of the soft and hard integrated expandable general robot mainly includes: an operating system and a robot application development platform and related tool chain, a robot state management system, a task distribution and management system, etc.; wherein the operating system includes the access of all devices and sensors, as well as perception, navigation and robot control algorithms, system monitoring, error recovery, upgrade and other system components.

[0066] As can be seen, on the basis of the expandable general robot of the embodiments of the present application, the application robot can be developed only by developing a corresponding robot application program for the task device required by the work through the robot application development platform.

[0067] As shown in FIG. 4, the expandable general robot of the present application has provided part of the operating system, auxiliary system and hardware in the figure, and the application robot developer only needs to increase the production tool and application part in FIG. 4 on this basis. As shown in FIG. 5, the expandable general robot of the present application can realize the links of task input, task management and issuing, task disassembly, navigation to the destination, and mechanical arm control, and the application robot developer only needs to develop the action link of the production tool part.

[0068] By implementing the soft and hard integrated extensible general robot of the embodiment of the application, a stable and reliable basic robot platform is provided from the hardware and software integration perspective, and a convenient way is provided for the development of an application robot. A general operating system and development platform are provided, so that a user only needs to handle professional related matters, without the need to redesign and develop various systems and without the need to consider non-professional related software problems; thereby the development cycle and development cost of the application robot are greatly reduced, and the development difficulty is reduced; moreover, the application robots of different types of work can reuse and extend the general robot, thereby reducing the cost of a factory.

[0069] 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. The system upgrade service unit is configured to provide upgrade services for robot application programs. The application installation service unit is configured to provide installation services for robot application programs. The application management service unit is configured to provide start, stop, and restart services for robot application programs. The system monitoring service unit is configured to provide system monitoring services, including service state monitoring and network state monitoring. The service state monitoring includes service state monitoring of the system upgrade service unit, the application installation service unit, and the application management service unit.

[0070] In some embodiments, the system service module further includes an alarm service unit configured to issue an alarm according to a monitoring result of the system monitoring service unit.

[0071] In some embodiments, as shown in FIG. 3, 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,

[0072] The robot arm control service unit is configured to, in response to a calling request of a robot application program, call the robot arm control algorithm unit to obtain robot arm control data, and send robot arm control instructions to a robot arm through the robot arm communication service unit.

[0073] In some embodiments, as shown in FIG. 3, 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.

[0074] The chassis control service unit is configured to, in response to a calling request of a robot application program, call the perception algorithm unit and the route planning control algorithm unit to obtain path planning data, and send control instructions to a mobile chassis based on the path planning data through the chassis communication service unit.

[0075] The perception algorithm unit and the route planning control algorithm unit acquire first signals collected by the planning control perception sensor through the sensing communication service unit; and calculate path planning data according to the first signals.

[0076] In some embodiments, as shown in FIG. 3, the input / output device is configured with a task management application unit, a state viewing unit, a robot management application unit, and an industrial computer communication service unit. The task management application unit, the state 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.

[0077] In some embodiments, as shown in FIG. 3, the operating system further includes a cloud communication service module, and the robot further includes a robot state viewing unit, a task state viewing unit, and an industrial computer communication service unit deployed on a cloud server. The robot state viewing unit and the task state viewing unit are used to call the system service module through the industrial computer communication service unit and the cloud communication service module in response to a customer request.

[0078] The soft and hard integrated extensible general robot of the embodiments of the present application is described from the aspects of hardware and software, and the control method of the soft and hard integrated extensible general robot is described below. The execution subject of the control method is the robot.

[0079] The embodiments of the present application also provide a control method of a robot. As shown in FIG. 6, the robot is the soft and hard integrated extensible general robot described in the above embodiments, and the method includes:

[0080] Step 101: starting an operating system of the robot and entering a standby state.

[0081] Step 102: starting a robot application program corresponding to a task device.

[0082] Step 103: in response to an application task based on the robot application program, sending a moving instruction to a chassis control service module through the operating system to make the moving chassis move to a target position.

[0083] Step 104: in response to an application task based on the robot application program, sending an operation instruction to a mechanical arm control service module through the operating system to make the mechanical arm perform an operation corresponding to the operation instruction.

[0084] In order to clearly illustrate the above method embodiments, specific examples are given. FIG. 7 is a flowchart of a control method of a robot provided by the embodiments of the present application. As shown in FIG. 7, the control method of the robot of the present application is applied to a soft and hard integrated extensible general robot, and the method includes:

[0085] starting the robot;

[0086] The system monitoring service unit detects whether the operating system is abnormal, and sends an alarm message through the alarm service unit when the operating system is abnormal;

[0087] The hardware management service unit is started;

[0088] Each hardware control service is started to perform a self-check, and if the self-check fails, an alarm message is sent through the alarm service unit; the hardware control services include a mechanical arm control service module and a chassis control service module;

[0089] The application state management service unit is started, and the robot enters a standby state;

[0090] The robot application program is started through the control device; for example, a worker starts a welding application;

[0091] The control device communicates with the operating system to enable the application state management service unit to start the robot application program of the robot body;

[0092] The control device receives an application task and forwards it to the robot application program of the robot body;

[0093] The robot application program of the robot body sends a movement instruction to the chassis control service module through the operating system according to the application task, so that the mobile chassis moves to a target position;

[0094] The robot application program of the robot body sends an operation instruction to the mechanical arm control service module through the operating system according to the application task, so that the mechanical arm performs an operation corresponding to the operation instruction.

[0095] In some embodiments, the control method further includes an upgrade method of the robot application program, as shown in FIG. 8, which includes the following contents:

[0096] In response to an application upgrade request sent by a user, the operating system checks whether there is a task corresponding to the robot application program being executed through the application management service unit. For example, 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.

[0097] If there is no task being executed, the application management service unit stops the robot application program.

[0098] A new version of the robot application program is installed through the application installation service unit.

[0099] The new version of the robot application program is started through the application management service unit, and if an exception occurs during the starting process, the previous version of the robot application program is rolled back.

[0100] All the embodiments of the present disclosure can be executed independently or in combination with other embodiments, and are all considered to be within the scope of protection required by the present disclosure.

[0101] The collection, storage, use, processing, transmission, provision and disclosure of user personal information involved in the present application comply with relevant laws and regulations and do not violate public order and good customs.

[0102] It should be noted that personal information from users should be collected for legitimate and reasonable purposes and not shared or sold outside these legitimate uses. In addition, such collection / sharing should be carried out after the user's informed consent is received, including but not limited to informing the user to read the user agreement / user notice before the user uses the function, and signing the agreement / authorization including authorization of relevant user information. In addition, any necessary steps should be taken to protect and secure access to such personal information data and ensure that other people with access to personal information data comply with their privacy policies and processes.

[0103] The present application is expected to provide embodiments in which users can selectively prevent 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 personal information data is no longer needed, the risk is minimized by limiting data collection and deleting data. In addition, such personal information is de-identified, if applicable, to protect the privacy of users.

[0104] In the foregoing embodiment description, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples, without contradiction.

[0105] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0106] Any processes or methods described in the flowcharts or otherwise described herein can be understood as representing modules, segments, or portions of code that include one or more executable instructions for implementing specific logic functions (or steps) and / or can be implemented entirely in hardware. The various embodiments of the application can include additional or fewer steps or methods as desired for a given implementation. The various embodiments of the application can also be implemented in a wide variety of computing systems, environments, and / or configurations. The various embodiments of the application can include additional or fewer components, steps, or functions as desired for a given implementation. The various embodiments of the application can also be implemented in a wide variety of computing systems, environments, and / or configurations. The various embodiments of the application can include additional or fewer components, steps, or functions as desired for a given implementation.

[0107] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-readable medium can be a computer- readable storage medium or a computer-readable signal medium. The computer-readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include the following: an electrical connection having one or more wires (electrical connections), a portable computer diskette (magnetic), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber (optical), and a portable compact disc read-only memory (CDROM). Note that the computer-readable medium can even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example, via optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory. In this context, a "computer-readable storage medium" can be any medium that can store the program for use by or in connection with the instruction execution system, apparatus, or device.

[0108] It will be appreciated that various portions of the application can be implemented in hardware, software, firmware or a combination thereof. In the above embodiments, the various steps or methods can be implemented in software or firmware that is stored in memory and executed by a suitable instruction execution system. As well, if implemented in hardware, as in another embodiment, the hardware can include any or a combination of the following technologies, which are all well known in the art: a discrete logic circuit(s) having logic gates for implementing logic functions upon an application of data signals, an application specific integrated circuit having appropriate combinational logic gates, a programmable gate array(s) (PGA), a field programmable gate array (FPGA), etc.

[0109] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment method can be completed by programs instructing related hardware, and the programs can be stored in a computer readable storage medium. When the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

[0110] In addition, each functional unit in each embodiment of the present application can be integrated into one processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The integrated module can be realized in the form of hardware or in the form of a software functional module. When the integrated module is realized in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0111] The storage medium mentioned above can 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 should be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present application.

Claims

1. A soft-hard integrated extensible general robot, wherein, The robot comprises at least one industrial computer, a mobile chassis, at least one mechanical arm, a plurality of sensors and input / output devices, The industrial computer is installed on the mobile chassis, the mechanical arm is directly installed on the mobile chassis or is 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 a task device; The industrial computer is electrically connected to the mobile chassis, the mechanical arm, the plurality of sensors and the 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 for developing a corresponding robot application program for the task device, and the operating system comprises: A chassis control service module, which is used for controlling the mobile chassis to move in response to the robot application program corresponding to the task device; A mechanical arm control service module, which is used for controlling the mechanical arm to operate in response to the robot application program corresponding to the task device; A system service module, which is used for providing application upgrade service, application management service, application installation service, hardware management service and system monitoring service; An input device communication service module, which is used for responding to an input / output device request and calling services provided by the system service module.

2. The robot of claim 1, wherein, The system service module comprises: A system upgrade service unit, which is used for providing upgrade service of the robot application program; An application installation service unit, which is used for providing installation service of the robot application program; An application management service unit, which is used for providing start, stop and restart service of the robot application program; A system monitoring service unit, which is used for providing system monitoring service, and the system monitoring service comprises service state monitoring and network state monitoring; the service state monitoring comprises service state monitoring of the system upgrade service unit, the application installation service unit and the application management service unit.

3. The robot of claim 2, wherein, The system service module further comprises an alarm service unit, which is used for issuing an alarm according to a monitoring result of the system monitoring service unit.

4. The robot of claim 1, wherein, The mechanical arm control service module comprises a mechanical arm communication service unit, a mechanical arm control service unit and a mechanical arm control algorithm unit, The mechanical arm control service unit responds to a calling request of the robot application program, calls the mechanical arm control algorithm unit to obtain mechanical arm control data, and sends mechanical arm control instructions to the mechanical arm through the mechanical arm communication service unit.

5. The robot of claim 1, wherein, The plurality of sensors comprise planning control perception sensors, the chassis control service module comprises 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 configured to respond to a calling request of the robot application program, 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.

6. The robot of claim 1, wherein, The input and output device is configured with a task management application unit, a state viewing unit, a robot management application unit and an industrial computer communication service unit, The task management application unit, the state viewing unit and the robot management application unit are configured to respond to a client request and call the system service module through the industrial computer communication service unit and the input device communication service module.

7. The robot of claim 1, wherein, The operating system further comprises a cloud communication service module, and the robot further comprises a robot state viewing unit, a task state viewing unit and an industrial computer communication service unit deployed on a cloud server, The robot state viewing unit and the task state viewing unit are configured to respond to a client request and call the system service module through the industrial computer communication service unit and the cloud communication service module in sequence.

8. The robot of claim 1, wherein, The task device is one of a welding machine, a welding gun, a grinder and a camera.

9. A control method of a robot in which, The robot is the soft and hard integrated extensible general robot of any one of claims 1 to 8, and the method comprises: starting an operating system of the robot and entering a standby state; starting the robot application program corresponding to the task device; in response to an application task based on the robot application program, sending a moving instruction to the chassis control service module through the operating system to make the mobile chassis move to a target position; in response to an application task based on the robot application program, sending an operation instruction to the mechanical arm control service module through the operating system to make the mechanical arm perform an operation corresponding to the operation instruction.

10. The method of claim 9, wherein, The robot is the soft and hard integrated extensible general robot of claim 2, and the method further comprises: in response to an application upgrade request sent by a user, the operating system checks whether there is a task corresponding to the robot application program being executed through the application management service unit; in the case where there is no task 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; starting the new version of the robot application program through the application management service unit, and if an exception occurs during the starting process, rolling back to the previous version of the robot application program.

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