CN109408157B - Method and device for determining multi-robot cooperative task - Google Patents
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Abstract
The invention discloses a method and a device for determining a multi-robot cooperative task, and relates to the field of robot application. The method is used for solving the problem that the multi-robot collaborative task is complex easily due to the fact that operation description of the multi-robot is single and non-uniformity exists in the prior art. The method comprises the following steps: dividing the whole task into different subtasks according to the execution object; carrying out parametric description on each subtask, and carrying out parametric description on a plurality of MP type subtasks included in the PN type subtask and establishing a Petrinet model of the MP type subtasks when the subtasks are confirmed to be PN type subtasks according to the parameters of the subtasks, wherein the PN type subtask includes a plurality of MP type subtasks; determining transition rules of a plurality of MP type subtasks included in the PetriNet model according to the transition rules, wherein the transition rules comprise an input library set, an output library set, an external condition and an internal condition.
Description
Technical Field
The invention relates to the field of robot application, in particular to a method and a device for determining a multi-robot cooperative task.
Background
The development of the application field of the robot and the increase of the production demand, the complexity of the interaction of the robot task is continuously increased in the industrial automatic production system. The complexity of robot task interaction determines that multiple subtasks are needed for cooperative control in the robot task execution process, the basic idea of the existing method is to decompose a complex robot task into subtasks which can be independently executed, and the complex task is executed on a specific robot by establishing a logical relationship model of multiple operation primitives and utilizing a bottom layer framework. The method aims to establish an abstract model of the complex task and establish a logical relation between subtasks, the concrete realization of most subtasks depends on a bottom layer framework, the flexibility is lacked, meanwhile, the establishment of the task model determines the logic of task execution, and the efficiency of task completion is limited by the model.
In recent years, with the wide application of robots in industrial production, high-level task modeling of robot tasks is receiving more and more attention from the industry. Models such as state machines and operation primitive networks are continuously proposed for complex robot task modeling, but the methods are only abstracted from a task level and lack a unified description of operations executed by a specific robot.
In summary, the conventional multi-robot operation description is single, and there is a non-uniform situation, which easily causes a problem that the multi-robot cooperative task is complicated.
Disclosure of Invention
The embodiment of the invention provides a method and a device for determining multi-robot cooperative tasks, which are used for solving the problems that in the prior art, the multi-robot operation description is single, and non-uniformity exists, so that the multi-robot cooperative tasks are complex easily.
The embodiment of the invention provides a method for determining a multi-robot cooperative task, which comprises the following steps:
dividing the whole task into different subtasks according to the execution object, wherein each subtask corresponds to one execution object;
carrying out parametric description on each subtask, and carrying out parametric description on a plurality of MP type subtasks included in the PN type subtask and establishing a Petrinet model of the MP type subtasks when the subtasks are confirmed to be PN type subtasks according to the parameters of the subtasks, wherein the PN type subtask includes a plurality of MP type subtasks;
determining transition rules of a plurality of MP type subtasks included in the PetriNet model according to the transition rules, wherein the transition rules comprise an input library set, an output library set, an external condition and an internal condition.
Preferably, the method further comprises the following steps: and when the subtask is confirmed to be an MP type subtask according to the parameter of the subtask, carrying out parametric description on the MP type subtask and establishing a PetriNet model of the MP type subtask.
Preferably, the parameters of the MP type subtask are described as:
MP＝{M，TF，T，D}
TF＝{RF，ANC，FFC}
D＝{DD|SD}
wherein M represents the execution object; TF represents the task reference frame of the MP type subtask; t represents the command type of the execution object; d represents the parameter format of the MP type subtask; RF represents a reference coordinate system of the MP-type subtask; ANC expresses a movable coordinate system; FFC denotes a compensation coordinate system; DD represents specified position information; SD represents positioning information in a certain sensor coordinate system.
Preferably, the parameters of the subtasks are described as:
MT＝{α，S，{MP|PN}，β，ω}
wherein α represents a start condition of the subtask; s represents the resource condition needed by the subtask; { MP | PN }, where MP indicates that the subtask includes one of the MP-type subtasks, and PN indicates that the subtask includes a plurality of the MP-type subtasks; β represents a task parameter of the subtask; ω represents the end condition of the subtask.
Preferably, the PetriNet model is:
PN＝{P，T，F，R，M}
wherein P represents the set of subtasks; t represents a set of transitions; f represents a conversion relation between the subtasks; r represents a set of transition rules; m represents the set of subtasks initially containing a marker.
Preferably, the transition rule is:
wherein, n represents a logical AND operation, piRepresenting a transition rule tkCorresponding input library sets; p is a radical ofjRepresenting a transition rule tkCorresponding output library sets;
an external condition representing the transition rule;
indicating the internal conditions of the transition rules.
The embodiment of the invention also provides a device for determining the multi-robot cooperative task, which comprises the following steps:
the dividing unit is used for dividing the whole task into different subtasks according to the execution object, and each subtask corresponds to one execution object;
the first description unit is used for carrying out parametric description on each subtask, carrying out parametric description on a plurality of MP type subtasks included in the PN type subtask and establishing a Petrenet model of the MP type subtasks when the subtask is confirmed to be a PN type subtask according to the parameter of the subtask, wherein the PN type subtask includes a plurality of MP type subtasks;
the determining unit is used for determining the transition rules of the MP type subtasks included in the PetriNet model according to the transition rules, and the transition rules comprise an input library set, an output library set, an external condition and an internal condition.
Preferably, the method further comprises the following steps: and the second description unit is used for carrying out parametric description on the MP type subtask and establishing a PetriNet model of the MP type subtask when the subtask is confirmed to be the MP type subtask according to the parameter of the subtask.
The embodiment of the invention provides a method for determining a multi-robot cooperative task, which comprises the following steps: dividing the whole task into different subtasks according to the execution object, wherein each subtask corresponds to one execution object; carrying out parametric description on each subtask, and carrying out parametric description on a plurality of MP type subtasks included in the PN type subtask and establishing a Petrinet model of the MP type subtasks when the subtasks are confirmed to be PN type subtasks according to the parameters of the subtasks, wherein the PN type subtask includes a plurality of MP type subtasks; determining transition rules of a plurality of MP type subtasks included in the PetriNet model according to the transition rules, wherein the transition rules comprise an input library set, an output library set, an external condition and an internal condition. The method provides a parametric description method, which can simplify the complexity of a complex multi-robot task; the overall task is divided into a plurality of subtasks, the PetriNet is utilized to establish the sequence and concurrency relation among the plurality of subtasks, the logic relation among the plurality of subtasks can be clearly expressed, and the multi-robot task can be cooperatively controlled based on the logic relation; moreover, the plurality of subtasks can realize concise representation of various relationships among the tasks through the constraints of the PetriNet model and the transition rule. The method provided by the embodiment of the invention can solve the problems that the operation description of multiple robots is single, the conditions are not uniform, and the multi-robot cooperative task is complex easily in the prior art.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for determining a multi-robot cooperative task according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of overall task partitioning according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a subtask PetriNet model provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of a transition rule before and after triggering according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a device for determining a multi-robot cooperative task according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flowchart illustrating a method for determining a multi-robot cooperative task according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
102, carrying out parametric description on each subtask, and when the subtask is determined to be a PN type subtask according to the parameters of the subtask, carrying out parametric description on a plurality of MP type subtasks included in the PN type subtask and establishing a Petrenet model of the MP type subtasks, wherein the PN type subtask includes a plurality of MP type subtasks;
In step 101, corresponding to the complex multi-robot cooperative task, in the embodiment of the present invention, task division is performed according to the execution object of the overall task, that is, the overall task is divided into different subtasks, and each subtask has only one single execution object. Fig. 2 is a schematic diagram of the overall task division according to the embodiment of the present invention, as shown in fig. 2, wherein the subtasks R1, R2, and R3 represent different execution objects, and the MTs 1, MT2, and MT3 represent different subtasks.
In step 102, each subtask is parameterized and then the type of the subtask is determined according to the parameter of the subtask.
In the embodiment of the invention, the subtasks are described parametrically by the following form:
specifically, each subtask can be represented by the following five-tuple:
MT＝{α，S，{MP|PN}，β，ω}
where α represents a start condition of the subtask, where the start condition may be a value of a sensor or a signal adjustment performed by the MT, and it should be noted that MT herein represents a subtask; s represents the resource condition required by the subtask, and the parameter is mainly used for the cooperative control of the task; { MP | PN } where MP denotes that the subtask includes one of the MP type subtasks, PN denotes that the subtask includes a plurality of the MP type subtasks, i.e., MP denotes a primitive type task that is simply operated when the subtask is used, and PN denotes a complex task that is composed of a plurality of MP type subtasks when the subtask is used; β represents a task parameter of the subtask, which can be used when the MT task is executed; ω denotes an end condition of the subtask, and the MT execution ends once the task end condition is satisfied.
For example, parameterizing a specific subtask allows the five tuple to describe the subtask with the actual task parameters. Specifically, as for the starting condition, if the moving operation of a robot arm may be a simple subtask, the moving operation task of the robot arm may need to satisfy a certain condition to be executed, for example, when a sensor identifies a specific gripping object, the robot arm may perform the moving operation, and the condition may be determined as the starting condition of the subtask; for the resource condition, the execution of the subtask requires specific resource condition, the moving operation of the mechanical arm necessarily requires corresponding system resource, such as robot and operation space, so the parameterization of the subtask indicates the resource required by the moving operation of the mechanical arm, so that the system can allocate the resource when executing the task; for { MP | PN } it is mainly indicated whether the subtask is a simple MP type subtask or a PN type subtask composed of a plurality of MP type subtasks, for example, one movement of the robot, the type is MP type subtask, but if one robot grab task includes a plurality of MP type subtasks such as robot movement, robot grab, etc., the type is PN type subtask; for the subtask parameter, a specific parameter in the subtask execution process is represented, for example, an execution time constraint may be possible for a robot task, and thus the parameter may be indicated by the parameter; the end condition is a sign for the end of the subtask, such as the robot moving operation, the condition for the end of the task execution may be that the robot reaches a specified position, and the sensor may inform the system of the completion of the moving operation through dynamic positioning.
A complete robot movement operation can be described in XML, which is described in detail as follows:
further, after completing the parameterized description of the subtasks, the task types of the subtasks may be confirmed.
Since the types of the subtasks include a PN type subtask and an MP type subtask, when the type of the subtask is confirmed, the two cases can be distinguished:
one of the situations is: when the type of the subtask is determined to be the PN type subtask, parameterization description needs to be carried out on a plurality of MP type subtasks included in the PN type subtask, and a Petrinet model of the MP type subtasks is established.
In another case, when the type of the subtask is determined to be the MP type subtask, the MP type subtask needs to be parameterized and a PetriNet model of the MP type subtask is established.
According to the above description, it can be determined that no matter what type of the subtask is, after the type of the subtask is confirmed, the parameter description needs to be performed on the MP type subtask. The following first introduces a description of the parameters of the MP type subtasks.
It should be noted that, in practice, the PN-type subtask includes a plurality of MP-type subtasks, that is, the PN-type subtask is parameterized and described, that is, the MP-type subtask is parameterized and described. In practice, the specific operation that can be independently executed on a single machine is defined as an operation primitive MP, and MP-type subtasks can be represented by the following four-tuple, which can enable unified representation of robot actions, and the specific formalization thereof is described as follows:
MP＝{M，TF，T，D}
wherein, M represents the execution object, namely the executor of the MP; TF represents a task reference frame of the MP-type subtask, and is a basis for D parameter evaluation, and is formally described as TF ═ RF, ANC, FFC }; t denotes a command type of an execution object, and T denotes a command type of a corresponding robot, such as robot movement, robot grasping, and the like; d denotes the parameter format of an MP-type subtask, which parameter definition depends on TF, and in general the D parameter denotes position information of the operation object, which information can be acquired or specified by any sensor in the system as a known position parameter, which is formally described as D ═ DD | SD }.
RF in TF ═ RF, ANC, FFC } represents the reference coordinate system of the MP-type subtask; ANC expresses a moving coordinate system, usually selects a coordinate system related to the operation of an executed object, such as a robot end joint, a robot base and the like, ANC mainly realizes the conversion between TF and RF, and a conversion relation between TF and RF can be established through TFTANC and ANCTRF; FFC denotes a compensated coordinate system, which is generally used in a moving system, and parameter compensation is required during MT execution due to dynamic changes of the coordinate system.
DD in { DD | SD } represents the designated position information, and may be represented by { dx, dy, dz, θ x, θ y, θ z, θ w }, dx, dy, dz representing the position coordinates in the TF coordinate system, and θ x, θ y, θ z, θ w representing the attitude coordinates in the TF coordinate system; SD represents positioning information under a certain sensor coordinate system, can be dynamically acquired, and has the same description form as the description type of the specified numerical value.
For example, for a specific MP type subtask, it is actually to determine specific parameter values for the { M, TF, T, D } quadruplet, for example, an MP type robot moving operation task whose performer is a specific robot in the system, such as the robot name UR 5; TF parameters are actually related to the following D, TF indicates that D is a reference value in a certain coordinate system, the three parameters of TF are RF, ANC, and FFC, for the robot movement operation, typically RF is the base coordinate system of the robot, i.e. RF ═ robot _ base, for the task programming the parameters of D may be based on the positioning data given in a certain sensor _ base coordinate system, therefore ANC ═ sensor _ base, in the actual system only the transformation relation between robot _ base and sensor _ base needs to be given to transform the D coordinate parameters in sensor _ base into the coordinate parameters in robot _ base, FFC is present in the dynamic system, e.g. the object to be grabbed is on a rotating disk, the object to be grabbed is also dynamically changing in the task, therefore FFC represents the motion compensated coordinate system, describing such dynamic properties in the system, but if MP does not have such dynamic properties, the FFC attribute may be null; t represents that the task is a robot moving task or a grabbing task and the like, and different tasks may have different resolutions on the D parameter; the D parameter is position information in a coordinate system, { dx, dy, dz } represents position coordinates in the TF coordinate system, for example, {1, 1, 1}, { θ x, θ y, θ z, θ w } represents attitude information in the TF coordinate system, for example, {0, 0, 0, 1}, so that a complete spatial pose can be represented as {1, 1, 1, 0, 0, 1 }.
The MP-type robot movement operation task may be described in XML, which is described as follows:
further, a PetriNet model of MP-type subtasks is established, in the embodiment of the present invention, for an overall task or a PN-type subtask, the overall task or the PN-type subtask includes a plurality of subtasks, and a relationship between the plurality of subtasks may be described by PetriNet, and a concrete formalization of PetriNet may be represented as follows:
PN＝{P，T，F，R，M}
wherein P represents the set of subtasks, each subtask representing a robot task; t represents a transition set and represents a temporary state in the task execution process; f represents the conversion relation among the subtasks, namely the conversion relation among the subtasks, and each directed edge represents the conversion from the current task to the next task; r represents a set of transition rules; m represents the set of subtasks initially containing a marker.
Fig. 3 is a schematic diagram of a subtask PetriNet model provided in an embodiment of the present invention, and with the use of the above formal description, a PetriNet model as shown in fig. 3 can be established between different subtasks.
In step 103, for each transition rule, it indicates the conversion relationship between different subtasks, such as sequence, selection, concurrency, etc., and once the transition rule satisfies the condition, the corresponding subtask enters the enabled state. The rules for each transition are composed of input library set, output library set, external conditions and internal conditions, etc. In an embodiment of the present invention, according to the transition rule, the transition rule of a plurality of MP type subtasks included in the PetriNet model can be determined.
Specifically, as shown in fig. 3, the PetriNet model only indicates the connection relationship between tasks, but when one task is executed, which task is the next executable task, whether it can be executed depends on the transition rule.
Fig. 4 is a schematic diagram of a transition rule before and after triggering according to an embodiment of the present invention, and as shown in fig. 4, the transition rule includes four tuples, which are: input pool set, output pool set, external conditions and internal conditions. For example, the input library in fig. 3 is set as { MT3}, the output library is set as { MT4}, which indicates that the MT3 task is finished, and in case of satisfying the internal condition and the external condition, the next executable task is MT4, and the transition rule is actually a task sequence relationship; for another example, the input library is set as { MT2, MT4}, the output library is set as { MT5}, which indicates that the execution ends at both MT2 and MT4, and the specified internal condition and external condition are met, the next executable task is MT5, and the transition rule is actually a synchronization relationship of the tasks; therefore, a Petrenet task needs a plurality of transition rules to describe the task execution relation.
Specifically, the transition rule can be expressed according to the following formula (1):
wherein, n represents a logical AND operation, piRepresenting a transition rule tkCorresponding input library sets; p is a radical ofjRepresenting a transition rule tkCorresponding output library sets;
an external condition representing the transition rule;
indicating the internal conditions of the transition rules.
Note that, the token change conditions of the input pool and the output pool when the transition rule triggers can be described by the following logical operations, and the state change of PetriNet such as activation, triggering, and token change of the transition rule can be judged by the following logical operations.
For pi∈I,
Wherein I represents a set of input libraries involved in the transition; for pj∈O,pj＝tk+pjWhere O represents the set of input libraries involved in the transition.
In summary, the embodiment of the present invention provides a method for determining a multi-robot cooperative task, which provides a parameterized description method, and can simplify the complexity of a complex multi-robot task; the overall task is divided into a plurality of subtasks, the PetriNet is utilized to establish the sequence and concurrency relation among the plurality of subtasks, the logic relation among the plurality of subtasks can be clearly expressed, and the multi-robot task can be cooperatively controlled based on the logic relation; moreover, the plurality of subtasks can realize concise representation of various relationships among the tasks through the constraints of the PetriNet model and the transition rule. The method provided by the embodiment of the invention can solve the problems that the operation description of multiple robots is single, the conditions are not uniform, and the multi-robot cooperative task is complex easily in the prior art.
Based on the same inventive concept, the embodiment of the invention provides a device for determining multi-robot cooperative tasks, and as the principle of solving the technical problem of the device is similar to a method for determining multi-robot cooperative tasks, the implementation of the device can refer to the implementation of the method, and repeated parts are not described again.
Fig. 5 is a schematic structural diagram of a device for determining multi-robot cooperative tasks according to an embodiment of the present invention, and as shown in fig. 5, the device mainly includes: a dividing unit 501, a first description unit 502, a determining unit 503 and a second description unit 504.
A dividing unit 501, configured to divide an overall task into different subtasks according to an execution object, where each subtask corresponds to one execution object;
a first description unit 502, configured to perform parameterized description on each of the subtasks, and when it is determined that the subtask is a PN-type subtask according to the parameter of the subtask, perform parameterized description on a plurality of MP-type subtasks included in the PN-type subtask, and establish a PetriNet model of the MP-type subtasks, where the PN-type subtask includes a plurality of MP-type subtasks;
a determining unit 503, configured to determine transition rules of a plurality of MP type subtasks included in the PetriNet model according to transition rules, where the transition rules include an input library set, an output library set, an external condition, and an internal condition.
Preferably, the method further comprises the following steps: a second description unit 504, configured to, when it is determined that the subtask is an MP-type subtask according to the parameter of the subtask, perform parameterized description on the MP-type subtask, and establish a PetriNet model of the MP-type subtask.
It should be understood that the above determination device for multi-robot cooperative task includes only units that are logically divided according to the functions implemented by the equipment device, and in practical applications, the above units may be stacked or split. The functions implemented by the device for determining multi-robot cooperative tasks provided in this embodiment correspond to the method for determining multi-robot cooperative tasks provided in the above embodiment one to one, and for the more detailed processing flow implemented by the device, the detailed description is already described in the above method embodiment, and the detailed description is not repeated here.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (4)
1. A method for determining multi-robot cooperative tasks is characterized by comprising the following steps:
dividing the whole task into different subtasks according to the execution object, wherein each subtask corresponds to one execution object;
carrying out parametric description on each subtask, and carrying out parametric description on a plurality of MP type subtasks included in the PN type subtask and establishing a Petrinet model of the MP type subtasks when the subtasks are confirmed to be PN type subtasks according to the parameters of the subtasks, wherein the PN type subtask includes a plurality of MP type subtasks;
determining transition rules of a plurality of MP type subtasks included in the PetriNet model according to the transition rules, wherein the transition rules comprise an input library set, an output library set, an external condition and an internal condition;
the parameters of the MP type subtask are described as follows:
MP＝{M，TF，T，D}
TF＝{RF，ANC，FFC}
D＝{DD|SD}
wherein M represents the execution object; TF represents the task reference frame of the MP type subtask; t represents the command type of the execution object; d represents the parameter format of the MP type subtask; RF represents a reference coordinate system of the MP-type subtask; ANC expresses a movable coordinate system; FFC denotes a compensation coordinate system; DD represents specified position information; SD represents positioning information under a certain sensor coordinate system;
the parameters of the subtasks are described as follows:
MT＝{α，S，{MP|PN}，β，ω}
wherein α represents a start condition of the subtask; s represents the resource condition needed by the subtask; { MP | PN }, where MP indicates that the subtask includes one of the MP-type subtasks, and PN indicates that the subtask includes a plurality of the MP-type subtasks; β represents a task parameter of the subtask; ω denotes an end condition of the subtask, MT denotes a subtask, and { MP | PN } denotes whether the subtask is a simple MP-type subtask or a PN-type subtask composed of a plurality of MP-type subtasks.
2. The method of claim 1, further comprising: and when the subtask is confirmed to be an MP type subtask according to the parameter of the subtask, carrying out parametric description on the MP type subtask and establishing a PetriNet model of the MP type subtask.
3. A multi-robot cooperative task determination apparatus, comprising:
the dividing unit is used for dividing the whole task into different subtasks according to the execution object, and each subtask corresponds to one execution object;
the first description unit is used for carrying out parametric description on each subtask, carrying out parametric description on a plurality of MP type subtasks included in the PN type subtask and establishing a Petrenet model of the MP type subtasks when the subtask is confirmed to be a PN type subtask according to the parameter of the subtask, wherein the PN type subtask includes a plurality of MP type subtasks;
a determining unit, configured to determine transition rules of a plurality of MP-type subtasks included in the PetriNet model according to transition rules, where the transition rules include an input library set, an output library set, an external condition, and an internal condition;
the parameters of the MP type subtask are described as follows:
MP＝{M，TF，T，D}
TF＝{RF，ANC，FFC}
D＝{DD|SD}
wherein M represents the execution object; TF represents the task reference frame of the MP type subtask; t represents the command type of the execution object; d represents the parameter format of the MP type subtask; RF represents a reference coordinate system of the MP-type subtask; ANC expresses a movable coordinate system; FFC denotes a compensation coordinate system; DD represents specified position information; SD represents positioning information under a certain sensor coordinate system;
the parameters of the subtasks are described as follows:
MT＝{α，S，{MP|PN}，β，ω}
wherein α represents a start condition of the subtask; s represents the resource condition needed by the subtask; { MP | PN }, where MP indicates that the subtask includes one of the MP-type subtasks, and PN indicates that the subtask includes a plurality of the MP-type subtasks; β represents a task parameter of the subtask; ω denotes an end condition of the subtask, MT denotes a subtask, and { MP | PN } denotes whether the subtask is a simple MP-type subtask or a PN-type subtask composed of a plurality of MP-type subtasks.
4. The apparatus of claim 3, further comprising: and the second description unit is used for carrying out parametric description on the MP type subtask and establishing a PetriNet model of the MP type subtask when the subtask is confirmed to be the MP type subtask according to the parameter of the subtask.
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