基于软件人架构的机器人设计与实现

Robot Design and Realization Based on SoftMan

以无人变电站移动巡检机器人为应用对象,运用"软件人"理论方法开展基于"软件人"架构的机器人系统设计:一方面,利用虚拟"软件人"为实体机器人建立软件模型,充分发挥"软件人"的拟人特性,构建"软件人"和机器人协同交互、融合共生的平行系统,通过"软件人"和机器人平行进化的智能算法实现"软件人"和机器人在线、实时、自动平行进化,在运行过程中不断提高机器人的性能;另一方面,利用"软件人"运行平台的高处理能力完成在机器人嵌入式系统中无法完成的一些智能算法,实现对实体机器人的实时作业并行、在线、实时地仿真。

Patrol robot in unattended substation was used as our application object.Based on the theory of SoftMan,we investigate further in Robot system with SoftMan architecture.On one hand,virtual SoftMan was adopted to build the software model of physical robot.Making full use of the humanized features of SoftMan,we constructed the parallel system to fulfill cooperative interaction,fusion,intergrowth of Robot and SoftMan.Parallel evolution algorithm was utilized to complete online,real-time,and automatic paraller evolution between SoftMan and robot,which can improve robot＇s performance gradually.On the other hand,some intelligent algorithms,which are difficult to accomplish in embedded robot systems,are able to realize in SoftMan platform.The parallel,online,and real-time simulations of physical robot can also be acheieved on the SoftMan platform.In this paper,we extended and expanded the robot function and security features through intelligent coordination,parallel evolution,and cooperative simulation of Robot and SoftMan.The work in this project is helpful to improve the intelligence,flexibility,and practicality of patrol robot in unattended substation.