服务机器人分层式图形化编程平台

为了简化服务机器人编程流程，针对服务机器人任务规划特点，基于分层编程的理念，设计了一套简易图形化编程平台。平台由基本模块层、执行协调层、任务规划层3层组成，用户在不同层次采用不同编程方式，兼顾了编程效率和执行效率。同时，提供了友好的图形化编程界面，方便机器人编程。在交龙服务机器人上的编程实验验证了该平台编程的有效性和便捷性。

A Hierarchical Graphic Programming Platform for Service Robot

For the simplification of service robot programming,a graphic programming platform is proposed base on the concept of hierarchical programming.It contains three layers: the base-module layer,process-coordination layer and the task-programming layer.Different programming methods are adopted in the different layers,taking account of the programming efficiency and the execution efficiency.Besides,the platform provides a friendly graphic user interface which makes the robot programming convenient.The result of programming experiment on Jiaolong Robot demonstrates the validity and convenience of the proposed platform.