通用服务机器人控制器平台

Universal Service Robot Controller Platform

针对目前完全自制硬件系统不能同时满足服务类机器人图像处理、多传感器数据采集、网络通信、导航、语音识别等多方面功能需求,自制单体式控制器又有成本高昂、研发周期长等缺点。该文提出一种通用型服务机器人控制器平台,平台分为硬件子系统和软件子系统。硬件系统由两部分组成,分别是基于Android开发的面向管理的中央调度与交互层控制器,以及面向服务的多核异构控制器。软件系统包含了支持服务机器人的开发语言——Engineer C语言,它可跨平台操作,能提取传感器、导航等信息并进行数据处理,将得到的数据生成机器人运动算法,最终获得人类控制机器人的规律。为了验证该系统的可行性,设计完成了多物料承载移动式服务机器人,经验证表明所提出的关键技术可以满足通用服务机器人控制器平台开发的需求。

In view of the current completely self-made hardware system couldn＇t meet the service robot image processing,multi-sensor,network communication,navigation,voice recognition and other functional requirements. Self-made monomer controller has high cost,long development cycle and so on. We developed a universal service robot controller platform. The platform was divided into two parts：hardware subsystem and software subsystem. The hardware subsystem was a cooperative controller composed of management oriented central dispatch and interaction layer controller and service-oriented multi-core heterogeneous behavior layer controller based on Android. The software subsystem included a cross-platform graphical development environment for support service robot development language-Engineer C language and a human intelligence acquisition system for rapid generation of intelligent control of robot operation HIA. In order to verify the feasibility of the system,a mobile service robot with multi material load was designed. The key technology proposed in this paper can support the whole development and application of the general service robot controller platform.