CN105786605A - Task management method and system in robot - Google Patents
Task management method and system in robot Download PDFInfo
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- CN105786605A CN105786605A CN201610118319.3A CN201610118319A CN105786605A CN 105786605 A CN105786605 A CN 105786605A CN 201610118319 A CN201610118319 A CN 201610118319A CN 105786605 A CN105786605 A CN 105786605A
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- 238000000034 method Methods 0.000 claims abstract description 11
- 238000003860 storage Methods 0.000 claims description 13
- 230000003993 interaction Effects 0.000 abstract description 5
- 239000011664 nicotinic acid Substances 0.000 abstract 1
- 230000008569 process Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/48—Program initiating; Program switching, e.g. by interrupt
- G06F9/4806—Task transfer initiation or dispatching
- G06F9/4812—Task transfer initiation or dispatching by interrupt, e.g. masked
- G06F9/4818—Priority circuits therefor
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Abstract
The invention provides a task management method and system in a robot. The method comprises the steps of firstly, receiving tasks to be executed, according to the task types of the tasks, distributing priority for the tasks, sequentially storing the tasks into a task queue, in the queue, conducting ranking according to the priority of the tasks in sequence from large to small, and then sequentially executing the tasks stored in the task queue. By means of the task management method and system in the robot, quality and efficiency of human-computer interaction and task execution of the bionic mobile service robot in a complex environment can be effectively improved, and the application scope of the mobile service robot is further broadened.
Description
Technical field
The invention belongs to robot field, particularly relate to the task management method in a kind of robot and system.
Background technology
At present, along with the fast development of robotics, Information Mobile Service robot more and more occurs in the field such as commercial production and daily life.Particularly, the introducing of bionics techniques makes Information Mobile Service robot can complete higher-quality man-machine interaction, thus realizing effectively exchanging cooperation between people with robot.At present, the task scheduling algorithm of most of mobile apparatus people may be only available for relatively simple application scenarios, still adopts linear scheduling, it is impossible to meet the complicated demand in practical application in macroscopic view task scheduling.Especially, with scheduling, bigger deficiency is yet suffered from for the priority adjustment of temporary duty and concurrent tasks etc. in some urgent occasions.Additionally, people and the personnel in robot interactive process participate in proposing challenge for multi-task scheduling further.
Summary of the invention
(1) to solve the technical problem that
It is an object of the invention to, it is provided that task management method in a kind of robot and system, the robot task scheduling under complicated man-machine interaction dynamically can be managed, improve quality and the efficiency of task scheduling.
(2) technical scheme
The present invention provides the task management method in a kind of robot, and for task pending in robot is managed, method includes:
S1, receives pending task, the task type according to task, distributes priority for task, and wherein, the priority of each task is different；
S2, according to task priority from big to small, perform task successively.
The present invention also provides for the task management system in a kind of robot, and for task pending in robot is managed, system includes:
Priority assignment module, for receiving pending task, the task type according to task, distribute priority for task, wherein, the priority of each task is different；
Task execution module, for the priority according to task from big to small, performs task successively.
(3) beneficial effect
The present invention provides the task management method in a kind of robot and system, by the task scheduling of robot is dynamically managed, quality and the efficiency of the man-machine interaction under complex environment of the bionical Information Mobile Service robot and tasks carrying can be effectively improved, further expand the range of application of Information Mobile Service robot.
Accompanying drawing explanation
Fig. 1 is the flow chart of the task management method in robot provided by the invention.
Fig. 2 is the flow chart of the task management method of the Household mobile service robot that the embodiment of the present invention provides.
Detailed description of the invention
The present invention provides the task management method in a kind of robot and system, first method receives pending task, task type according to task, priority is distributed for task, task is stored successively to a task queue, and in queue, is arranged in order from big to small according to the priority of task, then, the task of storage in task queue is performed successively.The present invention can be effectively improved quality and the efficiency of the man-machine interaction under complex environment of the bionical Information Mobile Service robot and tasks carrying, further expands the range of application of Information Mobile Service robot.
Fig. 1 is the flow chart of the task management method in robot provided by the invention, and for task pending in robot is managed, wherein, robot can be bionical Information Mobile Service robot etc., as it is shown in figure 1, method includes:
S1, receive pending task, task type according to task, priority is distributed for task, wherein, the priority of each task is different, specifically, task is divided into fundamental system operation task from big to small according to priority, hot job, preset task and nonproductive task, priority can be a numeral numbering, such as, fundamental system operation task is 0 grade of task, hot job is 1 grade of task, preset task is 2 grades of tasks, nonproductive task is 3 grades of tasks, every grade of task can realize priority segmentation numbering further, such as 0 grade of task can continue to be decomposed into 00 grade of task, 01 grade of task and 02 grade of task；
S2, according to task priority from big to small, perform task successively, for instance, when robot performs task, first have to ensure that robot self is properly functioning, therefore the task that robot primarily performs is fundamental system operation task, on this basis, if running into hot job, needing to immediately treat hot job, other preset task and nonproductive task after hot job is disposed, then can perform successively.
Further, in step s 2, after task is carried out priority distribution, task is stored successively to a task queue, and in queue, be arranged in order from big to small according to the priority of task, then, perform the task of storage in task queue successively.
Owing to the execution of task carries out with receiving simultaneously, the process of tasks carrying is also possible to receive new task, so further, in step s 2, when being carrying out a first task, if receiving the second task, and the priority of the second task is more than the priority of first task, then interrupts first task, and this first task is stored to a temporary duty space, meanwhile, the second task is performed.Such as, when robot is carrying out preset task, receive suddenly hot job, now preset task is not carried out complete, is interrupted by the executive process of this preset task, and stores this preset task to temporary duty space, further, robot task hot job at once.
Due to above-mentioned tasks interrupt mechanism so that temporary duty space exists being not fully complete of task, so further, in step s 2, after having performed a task, it is judged that whether temporary duty space has stored task:
If it is not, then perform the task of storage in task queue successively；
If, then the task in temporary duty space is carried out priority ratio relatively with the unenforced task in task queue, if in temporary duty space the priority of task more than in task queue the priority of all unenforced tasks, then perform the task in this temporary duty space, otherwise, the unenforced task that task queue medium priority is maximum is performed.So, no matter task is stored in temporary duty space or task queue, the task that robot total energy execution priority is the highest.
The present invention also provides for the task management system in a kind of robot, and for task pending in robot is managed, system includes:
Priority assignment module, for receiving pending task, task type according to task, priority is distributed for task, wherein, the priority of each task is different, specifically, task is divided into fundamental system operation task from big to small according to priority, hot job, preset task and nonproductive task, priority can be a numeral numbering, such as, fundamental system operation task is 0 grade of task, hot job is 1 grade of task, preset task is 2 grades of tasks, nonproductive task is 3 grades of tasks, every grade of task can realize priority segmentation numbering further, such as 0 grade of task can continue to be decomposed into 00 grade of task, 01 grade of task and 02 grade of task；
Task execution module, for the priority according to task from big to small, task is performed successively, for instance, when robot performs task, first have to ensure that robot self is properly functioning, therefore the task that robot primarily performs is fundamental system operation task, on this basis, if running into hot job, needing to immediately treat hot job, other preset task and nonproductive task after hot job is disposed, then can perform successively.
Further, after task is carried out priority distribution, task is stored to a task queue by task execution module successively, and in queue, is arranged in order from big to small according to the priority of task, then, performs the task of storage in task queue successively.
Owing to the execution of task carries out with receiving simultaneously, the process of tasks carrying is also possible to receive new task, so further, when task execution module is carrying out a first task, if receiving the second task, and the priority of the second task is more than the priority of first task, then interrupt first task, and this first task is stored to a temporary duty space, meanwhile, perform the second task.Such as, when robot is carrying out preset task, receive suddenly hot job, now preset task is not carried out complete, is interrupted by the executive process of this preset task, and stores this preset task to temporary duty space, further, robot task hot job at once.
Due to above-mentioned tasks interrupt mechanism so that there is being not fully complete of task in temporary duty space, so further, task execution module is after having performed a task, it is judged that whether temporary duty space has stored task:
If it is not, then perform the task of storage in task queue successively；
If, then the task in temporary duty space is carried out priority ratio relatively with the unenforced task in task queue, if in temporary duty space the priority of task more than in task queue the priority of all unenforced tasks, then perform the task in this temporary duty space, otherwise, the unenforced task that task queue medium priority is maximum is performed.So, no matter task is stored in temporary duty space or task queue, the task that robot total energy execution priority is the highest.
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Fig. 2 is the flow chart of task management method of the Household mobile service robot that the embodiment of the present invention provides, as in figure 2 it is shown, first set 1 grade of task of Household mobile service robot as kinsfolk's emergency protection task, 2 grades of tasks are pouring task.
In actual applications, namely kinsfolk sends the phonetic order of pouring, and the 2 of pouring grades of tasks are set in task queue highest task by robot after receiving instruction, and perform, and detect whether new task while performing pouring task.Now; the unexpected accidental falls of kinsfolk; robot adds 1 grade of task of kinsfolk's emergency protection of higher level; therefore current pouring task is suspended; current task information (including current task priority number, current task implementation progress and other recovery tasks information needed) is stored to temporary duty space; above-mentioned 1 grade of task is performed, as implemented the operations such as warning after having stored.
Above-mentioned 1 grade of task checks the task of whether having storage in temporary duty space after being finished, if having, then read and the task of storage is set to after highest-ranking task current task, and perform current task, if not, check in task queue whether have task.Owing to the task of storage only having pouring task, therefore pouring task it is set to current task and performs.After having performed pouring task, the task of check whether there is storage.Due to now not storing of task, therefore check in task queue whether have task, if having, the highest task in task queue being set and performs, if not, terminating.Owing to now task queue not having task, therefore terminate.
Particular embodiments described above; the purpose of the present invention, technical scheme and beneficial effect have been further described; it is it should be understood that; the foregoing is only specific embodiments of the invention; it is not limited to the present invention; all within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Claims (10)
1. the task management method in robot, for task pending in robot is managed, it is characterised in that method includes:
S1, receives pending task, the task type according to described task, distributes priority for described task, and wherein, the priority of each task is different；
S2, according to described task priority from big to small, perform described task successively.
2. the task management method in robot according to claim 1, it is characterized in that, in described step S2, described task is stored successively to a task queue, and be arranged in order from big to small according to the priority of described task, perform the task of storage in described task queue successively.
3. the task management method in robot according to claim 2, it is characterized in that, in described step S2, when being carrying out a first task, if receiving the second task, and the priority of this second task is more than the priority of this first task, then interrupt this first task, and this first task is stored to a temporary duty space, meanwhile, perform this second task.
4. the task management method in robot according to claim 3, it is characterised in that in described step S2, after having performed a task, it is judged that whether described temporary duty space has stored task:
If it is not, then perform the task of storage in described task queue successively；
If, then the task in described temporary duty space is carried out priority ratio relatively with the unenforced task in described task queue, if in described temporary duty space the priority of task more than in described task queue the priority of all unenforced tasks, then perform the task in this described temporary duty space, otherwise, the unenforced task that described task queue medium priority is maximum is performed.
5. the task management method in robot according to claim 1, it is characterised in that described task is divided into fundamental system operation task, hot job, preset task and nonproductive task from big to small according to priority.
6. the task management system in robot, for task pending in robot is managed, it is characterised in that system includes:
Priority assignment module, for receiving pending task, the task type according to described task, distribute priority for described task, wherein, the priority of each task is different；
Task execution module, for the priority according to described task from big to small, performs described task successively.
7. the task management system in robot according to claim 6, it is characterized in that, described task is stored to a task queue by described task execution module successively, and is arranged in order from big to small according to the priority of described task, performs the task of storage in described task queue successively.
8. the task management system in robot according to claim 7, it is characterized in that, when described task execution module is carrying out a first task, if receiving the second task, and the priority of this second task is more than the priority of this first task, then interrupts this first task, and this first task is stored to a temporary duty space, meanwhile, this second task is performed.
9. the task management system in robot according to claim 8, it is characterised in that described task execution module is after having performed a task, it is judged that whether described temporary duty space has stored task:
If it is not, then perform the task of storage in described task queue successively；
If, then the task in described temporary duty space is carried out priority ratio relatively with the unenforced task in described task queue, if in described temporary duty space the priority of task more than in described task queue the priority of all unenforced tasks, then perform the task in this described temporary duty space, otherwise, the unenforced task that described task queue medium priority is maximum is performed.
10. the task management system in robot according to claim 6, it is characterised in that described task is divided into fundamental system operation task, hot job, preset task and nonproductive task from big to small according to priority.
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| CN201610118319.3A CN105786605A (en) | 2016-03-02 | 2016-03-02 | Task management method and system in robot |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106447028A (en) * | 2016-12-01 | 2017-02-22 | 江苏物联网研究发展中心 | Improved service robot task planning method |
| CN106557362A (en) * | 2016-11-15 | 2017-04-05 | 北京光年无限科技有限公司 | It is applied to the task immigration method and system of intelligent robot |
| CN107092258A (en) * | 2017-06-03 | 2017-08-25 | 广东华创智能装备有限公司 | A kind of AGV vehicle dispatchings system |
| CN107234616A (en) * | 2017-07-07 | 2017-10-10 | 上海木爷机器人技术有限公司 | Multirobot control method and device |
| CN108762897A (en) * | 2018-04-08 | 2018-11-06 | 天芯智能（深圳）股份有限公司 | Multitask management process and smartwatch |
| CN109117257A (en) * | 2018-07-20 | 2019-01-01 | 徐州海派科技有限公司 | Method for scheduling task under cloud environment |
| CN109227552A (en) * | 2018-11-23 | 2019-01-18 | 上海航天控制技术研究所 | The control method and control system of exoskeleton robot |
| CN110058592A (en) * | 2019-04-25 | 2019-07-26 | 重庆大学 | A kind of mobile robot control method |
| CN110224848A (en) * | 2019-03-29 | 2019-09-10 | 北京龙鼎源科技股份有限公司 | The broadcasting method and device of alarm |
| CN110434855A (en) * | 2019-08-20 | 2019-11-12 | 广东博智林机器人有限公司 | The method, apparatus and industrial personal computer of robot construction |
| CN111496788A (en) * | 2020-04-17 | 2020-08-07 | 南京协辰电子科技有限公司 | Scheduling method, device and system for mechanical arm |
| CN111618854A (en) * | 2020-05-26 | 2020-09-04 | 中国人民解放军国防科技大学 | Task segmentation and collaboration method for security robot |
| CN112071610A (en) * | 2020-08-10 | 2020-12-11 | 北京北方华创磁电科技有限公司 | Heavy rare earth crystal boundary diffusion production line scheduling method and system based on AGV |
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| CN115946126A (en) * | 2023-02-22 | 2023-04-11 | 深圳市欧拉智造科技有限公司 | Task execution control method and robot |
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| CN106557362A (en) * | 2016-11-15 | 2017-04-05 | 北京光年无限科技有限公司 | It is applied to the task immigration method and system of intelligent robot |
| CN106447028A (en) * | 2016-12-01 | 2017-02-22 | 江苏物联网研究发展中心 | Improved service robot task planning method |
| CN107092258A (en) * | 2017-06-03 | 2017-08-25 | 广东华创智能装备有限公司 | A kind of AGV vehicle dispatchings system |
| CN107234616A (en) * | 2017-07-07 | 2017-10-10 | 上海木爷机器人技术有限公司 | Multirobot control method and device |
| CN107234616B (en) * | 2017-07-07 | 2018-08-14 | 广州木木机器人技术有限公司 | Multirobot control method and device |
| CN108762897A (en) * | 2018-04-08 | 2018-11-06 | 天芯智能（深圳）股份有限公司 | Multitask management process and smartwatch |
| CN109117257A (en) * | 2018-07-20 | 2019-01-01 | 徐州海派科技有限公司 | Method for scheduling task under cloud environment |
| CN109227552A (en) * | 2018-11-23 | 2019-01-18 | 上海航天控制技术研究所 | The control method and control system of exoskeleton robot |
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| CN110434855A (en) * | 2019-08-20 | 2019-11-12 | 广东博智林机器人有限公司 | The method, apparatus and industrial personal computer of robot construction |
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| CN114519480A (en) * | 2020-11-20 | 2022-05-20 | 炬星科技（深圳）有限公司 | Resource allocation method, equipment and storage medium for multi-robot navigation |
| CN112529470A (en) * | 2020-12-25 | 2021-03-19 | 深圳前海微众银行股份有限公司 | Task execution method, device, equipment and storage medium of website robot |
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| CN112509169A (en) * | 2021-02-08 | 2021-03-16 | 北京蒙帕信创科技有限公司 | Scheduling and inspection method and system for artificial intelligent robot |
| CN112509169B (en) * | 2021-02-08 | 2021-05-14 | 北京蒙帕信创科技有限公司 | Scheduling and inspection method and system for artificial intelligent robot |
| CN113172625A (en) * | 2021-04-29 | 2021-07-27 | 塔米智能科技（北京）有限公司 | Robot scheduling method, device, equipment and storage medium |
| CN114662866A (en) * | 2022-03-01 | 2022-06-24 | 达而观信息科技（上海）有限公司 | Queuing method for robot process automation tasks |
| CN114721328A (en) * | 2022-06-07 | 2022-07-08 | 无锡朗珀信息科技有限公司 | Intelligent numerical control system of grid section cutting machine |
| CN114721328B (en) * | 2022-06-07 | 2022-09-02 | 无锡朗珀信息科技有限公司 | Intelligent numerical control system of grid section cutting machine |
| CN114750168A (en) * | 2022-06-14 | 2022-07-15 | 苏州上舜精密工业科技有限公司 | Mechanical arm control method and system based on machine vision |
| CN114750168B (en) * | 2022-06-14 | 2022-09-20 | 苏州上舜精密工业科技有限公司 | Mechanical arm control method and system based on machine vision |
| CN115145233A (en) * | 2022-07-25 | 2022-10-04 | 西安热工研究院有限公司 | Robot multistage small-granularity motion scheduling control method, device and equipment |
| CN115145233B (en) * | 2022-07-25 | 2023-08-01 | 西安热工研究院有限公司 | Multi-stage small-granularity movement scheduling control method, device and equipment for robot |
| CN115946126A (en) * | 2023-02-22 | 2023-04-11 | 深圳市欧拉智造科技有限公司 | Task execution control method and robot |
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