吕、 机器人模块化与云机器人 http://robolab.sjtu.edu.cn Multi Functional Robot Service functions Vacuum cleaner Table Chair Hand and Arm Basic autonomous function Mobile function Cleaner robot Waiter robot Wheelchair robot Mobile manipulator t.SJTU
11 RIR.SJTU http://robolab.sjtu.edu.cn
0N8 二、机器人模块化与云机器人 The aim of RT-Middleware Problem Solving by Modularization Cost Technical Issue Needs The state of Various users Mobile base Manipulator Sensors... the art Spec, 8! RT-Gomponent 8I网T 8838 Reusable modules Easy to customize System developers Realize Utilize Satisfy low-cost robots the state of the art various needs Realizing innovation in service robot market 12
12 The aim of RT-Middleware Problem Solving by Modularization v 仕様の明確化 v 最新技術を容易に利用可能 v 誰でもロボットが作れる Realize low-cost robots Satisfy various needs Cost Technical Issue Needs ！ ！ ！ ！ The state of the art Mobile base Manipulator Sensors・・・ Various users System developers Easy to customize RT-Component Utilize the state of the art Realizing innovation in service robot market Reusable modules Spec
二、机器人模块化与云机器人 RT-Middleware RT-Components Logic device control .algorithms RT RT -applications Component Framework Component ete... Logic/algorithm with common interfaces RT-Component (RTC) RTC RTC RTC RTC RTC RTC RTC RTC RT-Middleware Execution environment for RTC=RT-Middleware(RTM) RTCs can be distributed across a network 13
RT-Middleware & RT-Components 13 RT Component Framework RT Component Logic Logic/algorithm with common interfaces = RT-Component （RTC） RT-Middleware RTC RTC RTC RTC RTC RTC RTC RTC Execution environment for RTC＝RT-Middleware（RTM） ※RTCs can be distributed across a network ・device control ・algorithms ・applications etc…
08 号、 机器人模块化与云机器人 2022-3-11 配置接口 RT组件接口 RT组件异常接口 RTC模型 服务消费 行为内核 服务提供 单元1 单元l CV1 T3 服务消费 ●★ LDA MC1 服务提供 单元m UNLD MC1T5 单元n PR_MC1 输入端口0 输出端口0 LDB MC1 数据缓存 9 MC1 T11 数据缓存 CI B O CV2/ CV3 卡5 输入端口m T8 T1OPR_MC2 UNLD_MC 输入端口n 数据缓存 LDB MC2 数据缓存 MC2 RIR.SJTU 14
2022-3-11 RIR.SJTU 14
0N8 二、机器人模块化与机器人 2022-3-11 接待机器人 物流机器人 交流机器人 搬运机器人 护士机器人 人体识别模块 人体识别模块 人体识别模块 人体识别模块 机械臂、手抓 机械臂、手抓 机械臂、手抓 控制模块 控制模块 控制模块 + 语音识别模块 语音识别模块 运动控制模快 运动控制横块 运动控模块 运动控制模块 RIR.SJTU 15
2022-3-11 RIR.SJTU 15