| As an extendibility of human capability, robot, especially intelligent robot can greatly improve human productivity and ameliorate the living circumstance. In the past decades, a lot of industry robots have been widely used in different manufacturing area and greatly accelerate the development of the manufacturing. Recently, with the progress of grounded theory and unit technology, intelligent robot application has entered into people living. These complex applications bring up higher requirements to the research, design and implementation of intelligent robots.The research and application of intelligent robots is significant to improve productivity and to promote the development of science and technology, which becomes an important measurement of manufacture and science and technology level of a country. Because the beginning of research is late in our country, the research level of intelligent robots is much lower than that of western country. With this background, and on the basis of our practical condition we marked out an Autonomous Conveying Robot (ACR) prototype system project. We hope, through the research of ACR prototype system, we propose some basic practical information for the research and implementation of serve robots in the future.The main topic of this dissertation is about the research of IRS control architecture, its goal is to design a high robust, adaptive, extendable and open control architecture for ACR prototype system and many future practical ACR systems.In Chapter 1, the background of this study is introduced, and the conception of Autonomous Conveying Robot is presented, .and a concise review of some representative IRS control architecture is made.In Chapter 2, based on the analysis of the functional object of the ACR prototype system, a whole hardware scheme of ACR prototype system is presented. Relied on a flexible communication system, an open system architecture for ACR prototype system is established. With this architecture, new component can be added easily. The detail of primary components is introduced too.In Chapter 3, on the basis of the analysis of the task of the ACR prototype system, a IRS control architecture academic model based on hierarchical principle is presented for the ACR prototype system, and the detail of the primary conceptions and components in the model are introduced. In the end, a control architecture practical model for ACR prototype system, include its primary components, are described.In Chapter 4, Production System is introduced at first. Then some high-level task planning method such as state space, plan space, problem reduction, hierarchical planning and the integration of these planning method are introduced, some knowledge representation methods are introduced also, and some planning method are used to solve particular task planning problem of ACR prototype system. In the end, a solution of time and resource constraints problems in the task planning are presented, and the structure of task planning subsystem and the global planning flow of the ACR prototype system is presented.In Chapter 5, based on analysis of requirements of the high-level task supervising of the ACR prototype system, Procedural Reasoning System is selected to implement the high-level task supervisor of the decision level of the control architecture, and the detail implementation is introduced also. In the end, the real-time aspects and fault/error recover of high-level task supervisor are discussed.In Chapter 6, based on analysis of features of the task execution level of the ACR prototype system control architecture, the task execution level is divided into situation/event surveillance, task execution control and fault/error recovery subsystems. In the end, a task description language used to code task procedure is presented.In Chapter 7, with the analysis of features of the functional level of the ACR prototype system control architecture, an open modular architecture of functional level is presented. With the combination of the functions/activiti...
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