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Robot OS System Architecture Design

2022-04-22 23:53:00 【InfoQ】

1. background

At present, mobile robots have been widely used , Mobile robots can be seen in both large shopping malls and banks . Mobile robots are mainly mobile and decision-making , The movement mode is mainly wheel type and foot type , What you see in the mall mainly appears in the form of wheeled anthropomorphism , The foot form is mainly based on the image of animals , Some time ago, I saw a community in Shanghai , The robot runs in the community with a horn tied to it , Remind people to pay attention to personal precautions, etc .

At present, I am in charge of the work related to the mobile robot operating system , The system is in Android Based on the intelligent voice image AI Ability , Motion control capability encapsulation and decision engine .Robot OS The whole architecture is designed around these core competencies ß an .

2. System design criteria

When communicating the system design with the team , Set the design criteria first , We reached an agreement on .

open ： The whole Robot OS Is open , Not closed , Allow installation of third-party applications , So you should have the following abilities ：

There is an app store ;

Provide a development platform similar to applet ;

AI Provide open interface and ability with sports ability ;

Platform based 、 Ecological 、 Commercial expansion capability .

Extensibility ： The system is scalable , Include ：

Hardware scalability ;

Software system scalability ;

Scene scalability ;

flexibility ：

Configuration flexibility ;

Scene combination flexibility ;

The process can interfere with ;

High performance ：

Interaction delay ;

CPU Occupy ;

Memory 、 The Internet 、 Electricity consumption

Security ：

Anti collision （ Logs can be traced back to ）;

Loss prevention （ Remote location 、 Locking machine ）;

Anti crack ;

User privacy protection ;

Efficiency ：

Low renewal cost ;

Low development cost ;

Low deployment cost ;

Commissioning costs .

After reaching a consensus on the goal, start designing the system .

3. Android Introduction to system architecture

Android System architecture diagram ：

Among them we can see ：

Android The foundation of the platform is Linux kernel . for example ,Android Runtime (ART) rely on Linux Kernel to perform the underlying functions , For example, threads and low-level memory management . Use Linux Kernel can let Android Take advantage of the main safety features , And allow device manufacturers to develop hardware drivers for the kernel .

Android**** Dedicated driver
：Android Ashmen、Logger、Binder、Power Management、Low Memory Killer、PMEM（ Physical memory drive ）、USB Gadget、Ram Console、Time Device、Android Alarm

Android**** Device drivers
：Framebuff Display drive 、Event Input device drive 、ALSA Audio drive 、OSS Audio drive 、v412 Camera drive 、MTD drive 、 Bluetooth driver 、WLAN Device drivers

Hardware abstraction layer (HAL) Provide standard interface , To a higher level Java API The framework shows the hardware functions of the device .HAL Contains multiple library modules , Each module implements an interface for a specific type of hardware component , For example, camera or Bluetooth module . When frame API Access to device hardware is required ,Android The system will load library modules for this hardware component .

framework We have more contact with the application layer , Easy to understand , There is no detailed introduction here .

stay Android Encapsulate our... Based on the system architecture Robot OS framework ：

among Service And Core Core layer correspondence Androi Of framework layer .

4. Hardware architecture design

The system development board is to run us Robot OS The motherboard , Communicate with the main board controlling the movement of the chassis through the network cable , Expand Robot OS The basic ability of .

5. Module design

We need to be in the system framework Layer implementation voice , Images , Sports related services , And the instruction receiving and distribution service issued by the control signaling , These capabilities do not encapsulate the corresponding application layer SDK, It's access SDK Of APP Can communicate with our core competence Services .

Here are the benefits of designing each core capability as an independent process ：

Isolation,

： A module crash does not affect another module ;

open

： All applications running on our machines can pass through SDK Call these core algorithms and motion Services ;

Security

： Provided SDK It's just IPC client , The core algorithm ability is OS layer , Prevent being cracked ;

High performance

： Multiple applications use one capability , This capability only exists in the system , Reuse improves performance .

6. Business architecture design

Business architecture design criteria ：

Make the business platform , Are independent of each other ; The basic business is sinking , Easy to reuse ;

Separate core business from non core business

Isolate different types of business

Distinguish between the main process and the auxiliary process

Based on these guidelines and OS Core competencies provided , Can quickly develop products based on specific scenarios , Fast iteration , Fast delivery .

7. summary

This paper introduces Robot OS Core competence and architecture design , Including hardware architecture design 、 Business architecture design , And module design , And it introduces Android The overall architecture of the system is layered .

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