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CN-122008181-A - Robot control system, method, computer equipment and medium based on KaiHong OS robot operating system

CN122008181ACN 122008181 ACN122008181 ACN 122008181ACN-122008181-A

Abstract

The invention discloses a robot operating system, a robot control method, computer equipment and a medium based on KaiHong OS, wherein the system comprises an operating system layer, a middle layer and an application layer, the operating system layer adopts KaiHong OS and provides hardware abstraction, bottom layer driving, bottom layer task scheduling, compiling and equipment driving functions, the middle layer is used for carrying out secondary packaging on the operating system layer and providing standard interfaces with uniform and modularized formats, and the application layer manages the whole robot operating system through a node manager and splits and combines the functions of the robot operating system by taking nodes as units. According to the invention, kaiHong OS is used as the OS layer support of the robot operating system, and is connected with the bottom hardware through KaiHong OS, and runs on the computer hardware to keep the application layer unchanged, so that a developer can conveniently develop the robot on KaiHong OS, and the development efficiency of the robot is improved.

Inventors

  • WANG HAO
  • LIU JINYI
  • ZHOU ZIYANG

Assignees

  • 深圳开鸿数字产业发展有限公司

Dates

Publication Date
20260512
Application Date
20251210

Claims (18)

  1. 1. A KaiHong OS-based robot operating system is characterized by comprising an operating system layer, an intermediate layer and an application layer; wherein, the operating system layer adopts KaiHong OS and provides hardware abstraction, bottom layer driving, bottom layer task scheduling, compiling and device driving functions; the middle layer is used for carrying out secondary packaging on the operating system layer and providing a standard interface with uniform format and modularization; The application layer manages the whole robot operating system through a node manager, and the functions of the robot operating system are split and combined by taking the nodes as units.
  2. 2. The KaiHong OS-based robotic operating system according to claim 1, wherein the operating system layer provides a custom interface for the middle layer for interfacing a lower layer system with an upper layer frame.
  3. 3. The KaiHong OS-based robotic operating system according to claim 1, wherein the intermediate layer builds a communication system based on a TCP/UDP network, the communication system integrating TCPROS/UDPROS protocol components.
  4. 4. The KaiHong OS-based operating system of claim 3, wherein the communication system constructed by the middle layer supports a model composed of a publish and subscribe, a client and a server for realizing data transmission modes of different communication mechanisms.
  5. 5. The KaiHong OS-based robotic operating system according to claim 1, wherein the node manager has a node registration list and a computational graph lookup function to assist the decentralized nodes in automatically discovering each other, establishing a communication connection, and enabling collaboration of distributed nodes.
  6. 6. The KaiHong OS-based robotic operating system of claim 5, including a plurality of nodes, wherein when the plurality of nodes are running, a communication mechanism is interposed between the nodes, the nodes can send messages to each other, and each message has a specific data structure, the data structure being a standard data structure or an array and nest structure.
  7. 7. The KaiHong OS-based robotic operating system according to claim 6, wherein the messages are passed between nodes in a publish and subscribe manner, one node being a publisher of a topic or a subscriber of a topic.
  8. 8. The KaiHong OS-based robotic operating system of claim 1, wherein the robotic operating system enables acquisition of environmental information and invocation of existing devices within an application environment based on the distributed soft bus characteristics of KaiHong OS.
  9. 9. The KaiHong OS-based robotic operating system of claim 8, wherein communication is established between the plurality of robotic operating systems, and the acquired device information is shared among the plurality of robotic operating systems when the plurality of robotic operating systems are simultaneously invoking an existing device in the application environment.
  10. 10. The KaiHong OS-based robotic operating system of claim 1, wherein the application layer supports new nodes that can establish communication connections with legacy nodes.
  11. 11. A robot control method based on KaiHong OS-based robotic operating system according to any one of claims 1-10, the method comprising: The method comprises the steps of acquiring existing equipment in an application environment, establishing communication connection with the existing equipment, taking a sensing component of the existing equipment as a sensor of a robot, and acquiring multi-dimensional data based on the sensing component, wherein the sensing component comprises any one or more of a laser radar, an infrared sensor, a position encoder and a camera; Analyzing the multidimensional data to obtain an analysis result, wherein the analysis result comprises any one or more of a positioning result, a target identification result, a path planning result and a distance detection result; And controlling the robot based on the analysis result so as to meet the use requirement of a user.
  12. 12. The robot control method based on KaiHong OS's robot operating system according to claim 11, wherein acquiring multidimensional data based on the sensing component includes: Calling the existing equipment, and determining a sensor component and a corresponding function of the existing equipment; and acquiring environmental information based on the sensor component of the existing equipment to obtain the multidimensional data.
  13. 13. The robot control method based on KaiHong OS's robot operating system according to claim 12, wherein acquiring multidimensional data based on the sensing component further comprises: If multiple robots call the same existing equipment, sensor components of the same existing equipment are used as perceptrons of the multiple robots, and after one of the robots acquires environmental information based on the sensor components of the existing equipment, the acquired environmental information is shared with other robots.
  14. 14. The robot control method based on KaiHong OS's robot operating system according to claim 11, wherein controlling the robot based on the analysis result to meet the use requirement of the user includes: Connecting the analysis result with each node in the robot operating system through topics to form a control data stream; And executing corresponding operation based on the executor of the control data flow control robot.
  15. 15. The robot control method based on KaiHong OS's robot operating system of claim 14, further comprising: checking the communication states of all nodes, and positioning communication faults when the communication states are abnormal; Based on the located communication failure, the global parameters are modified at robot run-time.
  16. 16. The robot control method based on KaiHong OS's robot operating system of claim 14, further comprising: Acquiring a new demand input by a user, analyzing the new demand, and determining a target function corresponding to the new demand; and creating a new node based on the target function, adding the new node into a node registration list, and establishing communication connection with the original node.
  17. 17. A computer device comprising a memory, a processor and a robot control program based on KaiHong OS a robot operating system stored in the memory and executable on the processor, when executing the robot control program based on KaiHong OS a robot control method based on KaiHong OS a robot operating system, implementing the steps of the robot control method according to any one of claims 11-16.
  18. 18. A computer-readable storage medium, wherein a robot control program based on a KaiHong OS robot operating system is stored on the computer-readable storage medium, and wherein the robot control program based on a KaiHong OS robot operating system implements the steps of the robot control method based on a KaiHong OS robot operating system according to any one of claims 11 to 16 on the computer-readable storage medium.

Description

Robot control system, method, computer equipment and medium based on KaiHong OS robot operating system Technical Field The present invention relates to the field of robot development technologies, and in particular, to a robot control system, a method, a computer device, and a medium based on KaiHong OS's robot operating system. Background With the development of various disciplines such as computer technology, automatic control technology, electronics, etc., robotics have obviously become a hot spot in current robotics research and have been significantly promoted, and are widely used in a variety of fields. For example, the wall painting robot can replace the traditional wall painting workers to paint the wall, the unmanned warehouse in the Jingdong can transport goods through the intelligent carrying robot AGV (Automated Guided Vehicles), and the floor sweeping robot can also enter a plurality of families to start sweeping and cleaning work. Currently, ROS (Robot Operating System) is a software framework for robotic software development that is very popular with developers. ROS is a high-efficiency flexible framework for writing robot software, integrates a large number of tools, libraries and protocols, provides functions similar to those provided by an operating system, and comprises hardware abstract description, bottom-layer driver management, common function execution, message transmission among programs, program issuing package management and the like, so that complex task creation and stability control under complex and diverse robot platforms can be greatly simplified. Through the ROS, the robot system can be better adapted to the requirements, and convenience is provided for the development of robot software to a great extent. ROS (robot operating system) cannot run directly on computer hardware, but needs to rely on other operating systems, existing operating systems supporting ROS can be divided into two classes, linux and Windows, linux-based Ubuntu systems being the most mature systems for ROS use. The OS (operating system) layer of ROS uses Linux, on top of which the middle layer and the application layer responsible for communication are deployed. However, there is no KaiHong OS-based ROS system available to use ROS for robotic development deployment on KaiHong OS-equipped hosts. Accordingly, there is a need in the art for improvement. Disclosure of Invention Aiming at the defects in the prior art, the invention provides a robot control method, a system, computer equipment and a medium based on a KaiHong OS robot operating system, which adopts the following technical scheme: In a first aspect, the invention provides a KaiHong OS-based robot operating system, which comprises an operating system layer, an intermediate layer and an application layer; wherein, the operating system layer adopts KaiHong OS and provides hardware abstraction, bottom layer driving, bottom layer task scheduling, compiling and device driving functions; the middle layer is used for carrying out secondary packaging on the operating system layer and providing a standard interface with uniform format and modularization; The application layer manages the whole robot operating system through a node manager, and the functions of the robot operating system are split and combined by taking the nodes as units. In one implementation, the operating system layer provides a customized interface for the middle layer for enabling engagement of the underlying system with the upper layer framework. In one implementation, the middle layer builds a communication system based on a TCP/UDP network that integrates TCPROS/UDPROS protocol components. In one implementation, the communication system constructed by the middle layer supports a model composed of a publishing and subscribing mode, a client and a server, and is used for realizing data transmission modes of different communication mechanisms. In one implementation, the node manager has a node registration list and a computation graph lookup function to help the decentralized nodes automatically discover each other, establish communication connections, and achieve collaboration of the distributed nodes. In one implementation, the robot operating system includes a plurality of nodes, when the nodes are running, a communication mechanism is added between the nodes, the nodes can send messages to each other, and each message has a specific data structure, and the data structure is a standard data structure or an array and nested structure. In one implementation, the messages are passed between nodes in a publish and subscribe fashion, one node being a publisher of the topic, or a subscriber of the topic. In one implementation, the robot operating system implements acquisition of environmental information and invocation of existing devices within an application environment based on KaiHong OS's distributed soft bus characteristics. In one implementation, communication is established betw