智能服务机器人软件系统设计

发布时间：2019-01-28 08:29

【摘要】：从机器人诞生以来至现在,工业机器人免去了大量的人工重复操作。然而目前的工业机器人只能工作在固定工作环境,它们在日常生活中对普通人的直接帮助远还是逊于普罗大众对机器人的狂热幻想。随着工业技术的日臻成熟,工业机器人在制造行业已经得到了广泛应用,尤其是在焊接、装配生产线上的作为重复劳动代劳者使用,对于稍显复杂多变的工作环境,更进一步地,与人类在同一环境中相互协作完成任务,目前的机器人技术还远远不能胜任。另一方面,随着人口结构的老龄化,以及电子化生活在普罗大众中普及,普通用户对于服务机器人进入我们日常生活的愿望也越来越强烈。目前的服务机器人由于自身两方面的障碍无法进入普通人的生活,第一是人-机器人的沟通障碍,第二是机器人对于复杂多变环境的适应能力远远达不到应用要求。为解决这两个问题,机器人研究人员主要从软件和硬件两个方面提高机器人在一般社会生活中的适用性。通过提高软件设计水平以及机器人的感知能力,降低人-机器人对话的技术门槛,提高机器人对于复杂环境的适应能力,增强多层次多优先级任务的执行能力,赋予机器人以智能。同时开发设计更加精巧灵活的机械运动机构和传感器,扩大机器人的活动空间。本文针对机器人的软件设计短板以及智能性的欠缺,首先从人工智能以及机器人的文化背景角度出发,阐述了服务机器人所需要的功能定位,总结了过去四十年中人工智能机器人设计的四种范式：分级范式、反应范式、混合范式,和学习范式。在此基础上本文介绍了一个智能机器人RobWen行为控制程序框架的构建实例,通过此框架下的机器人行为模式设计,使得机器人可以适应简单的办公室和校园工作环境,执行复杂结构的任务,对外界状态变化作出灵活响应。机器人程序框架包括以规划器为中心感知器、执行器、认知模块、以及记忆模块。本机器人的软件架构基于分布式机器人API:Player机器人开发平台。在Player分布式结构下,机器人的各项任务由并发执行的方式实施。机器人的各单元以线程的形式可以同时独立完成各自的任务,通过线程间消息完成交叉任务的消息传递和协作。在本文的最后提供了机器人在Stage仿真平台上的任务执行实例。仿真实验表明,在预定的系统数据读写频率上构建一个分布式并行操作的机器人软件架构是完全可行的。
[Abstract]:Since the birth of robots, industrial robots have been spared a large number of manual repetitive operations. However, the current industrial robots can only work in a fixed working environment, and their direct help to ordinary people in their daily lives is far less than the general public's fanatical fantasies about robots. With the development of industrial technology, industrial robots have been widely used in manufacturing industry, especially in welding and assembly lines, which are used as a substitute for repeated labor. Furthermore, the current robot technology is far from competent to cooperate with humans to accomplish tasks in the same environment. On the other hand, with the aging of population structure and the popularity of electronic life among the general public, the desire of ordinary users to service robots into our daily life is becoming stronger and stronger. The current service robot can not enter ordinary people's life because of its own two obstacles. The first is the communication obstacle between human and robot. The second is that the robot's adaptability to complex and changeable environment can not meet the requirements of application. In order to solve these two problems, robot researchers mainly improve the applicability of robots in general social life from the aspects of software and hardware. By improving the level of software design and the perception ability of the robot, the technical threshold of human-robot dialogue is lowered, the adaptability of the robot to complex environment is improved, and the execution ability of multi-level and multi-priority tasks is enhanced. Give the robot intelligence. At the same time, develop and design a more delicate and flexible mechanical motion mechanism and sensors to expand the mobile space of the robot. In this paper, aiming at the shortage of software design board and intelligence of robot, firstly, from the angle of artificial intelligence and the cultural background of robot, the functional localization of service robot is expounded. Four paradigms of artificial intelligence robot design in the past 40 years are summarized: hierarchical paradigm, response paradigm, mixed paradigm, and learning paradigm. On this basis, this paper introduces an example of constructing an intelligent robot RobWen behavior control program framework. Through the design of robot behavior pattern under this framework, the robot can adapt to the simple office and campus working environment. Perform complex structure tasks and respond flexibly to changes in external state. The robot program framework includes a planner-centric perceptron, an actuator, a cognitive module, and a memory module. The software architecture of this robot is based on the distributed robot API:Player robot development platform. In the Player distributed architecture, the tasks of the robot are implemented by concurrent execution. Each unit of the robot can simultaneously complete its own tasks independently in the form of threads, and the message passing and cooperation of cross-task can be accomplished by messages between threads. At the end of this paper, a task execution example of robot on Stage simulation platform is provided. The simulation results show that it is feasible to construct a distributed parallel operating robot software architecture based on the data read and write frequency of the system.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TP242

【共引文献】