WO2021129346A1 - Method and device for robot to autonomously manage execution capability, and storage medium - Google Patents
Method and device for robot to autonomously manage execution capability, and storage medium Download PDFInfo
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- WO2021129346A1 WO2021129346A1 PCT/CN2020/133742 CN2020133742W WO2021129346A1 WO 2021129346 A1 WO2021129346 A1 WO 2021129346A1 CN 2020133742 W CN2020133742 W CN 2020133742W WO 2021129346 A1 WO2021129346 A1 WO 2021129346A1
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- 238000004364 calculation method Methods 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 8
- 238000007726 management method Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Definitions
- the present invention relates to the technical field of robots, in particular to a method, equipment and storage medium for autonomous management and execution capabilities of robots.
- AGV Automated Guided Guided Vehicle
- AMR Autonomous Mobile Robot
- the present invention provides a method, equipment and storage medium for robots to autonomously manage their execution capabilities, aiming to use the robot's computing capabilities to enable them to autonomously manage their own execution capabilities and improve work efficiency.
- the present invention provides a method for autonomously managing execution capabilities of a robot, the method including:
- the robot obtains the work task to be executed, and obtains the initial state and the completion state of the work task and the state information of the robot itself.
- the execution plan corresponding to the work task is calculated.
- the present invention also provides a device for autonomously managing execution capabilities of a robot, and the autonomous management device includes:
- the task acquisition module is used to acquire the job task to be executed, and acquire the initial state and the completion state of the job task and the state information of the robot itself.
- the plan calculation module is used to calculate the execution plan corresponding to the job task according to the initial state and the completion state of the job task, combined with the state information of the robot itself.
- the task execution module is used to execute the job task according to the calculated execution plan.
- the present invention also provides an electronic device, the electronic device includes a memory and a processor, the memory stores an autonomous management program that can run on the processor, and the autonomous management program is When the processor is running, the method for autonomously managing the execution capability of the robot is executed.
- the present invention also provides a computer storage medium with an autonomous management program stored on the storage medium, and the autonomous management program can be executed by one or more processors to realize the autonomous management of the robot. Steps of the method of execution capability.
- the method, equipment and storage medium for autonomously managing execution capabilities of robots of the present invention can achieve the following beneficial effects:
- the robot obtains the job task to be executed, and obtains the initial state and completion state of the job task and the state information of the robot itself; according to the initial state and completion state of the job task, combined with the state information of the robot itself, calculates the job
- the execution plan corresponding to the task executes the operation task according to the calculated execution plan; achieve the purpose of using the robot's computing power to realize its own execution ability, improve the robot's work efficiency, and save the cost At the same time, it also makes the robot smarter and more flexible.
- Fig. 1 is a schematic flowchart of an embodiment of a method for autonomously managing execution capabilities of a robot according to the present invention.
- Fig. 2 is a schematic diagram of functional modules of an embodiment of the device for autonomously managing execution capabilities of a robot according to the present invention.
- FIG. 3 is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention.
- the present invention provides a method, equipment and storage medium for autonomously managing the execution capability of a robot, so as to utilize the computing capability of the robot to enable the robot to realize the purpose of autonomously managing its own execution capability and to improve work efficiency and flexibility of the robot. lower the cost.
- Fig. 1 is a schematic flow chart of an embodiment of the method for autonomously managing execution capability of a robot of the present invention; the method for autonomously managing execution capability of a robot of the present invention can be implemented as steps S10-S30 as described below:
- Step S10 The robot obtains the work task to be executed, and obtains the initial state and the completion state of the work task and the state information of the robot itself.
- the source of the work task to be executed obtained by the robot includes: the robot receives the work task to be executed sent by the outside and obtained through communication with the outside; and/or: the robot generates the work task to be executed by itself according to the trigger instruction Job task.
- the work task to be executed obtained by the robot may be a single task or multiple tasks, as long as it is a work task that the robot can receive.
- the robot When the robot obtains the work task to be executed, it obtains the initial state and the completion state of the work task, and also obtains the state information of the robot itself. At this time, when the robot obtains the task to be executed, the state of the robot itself may be in the standby state when it is just turned on, or it may be the state in which it is working.
- the status of the job task acquired by the robot includes but is not limited to: the location of the job, the content of the job, the duration of the job, etc.; the status of the robot itself includes but is not limited to: the power of the robot, the weight, the current position of the robot, Status information that may affect the job task, such as the ability information of the robot.
- the robot's capability information refers to the information about what the robot can do. For example, if a transport robot can load goods, it has information such as the maximum cargo capacity and the maximum mileage that can be transported. In addition, if the current environment may affect the robot to perform the corresponding task, the robot will also obtain the current environment information, such as the light intensity (for example, the robot may not be able to walk clearly in the route under low light conditions), and the robot may Environmental information such as the slope of the road that needs to be driven (for example, the road slope is too high and the robot may not be able to pass).
- the light intensity for example, the robot may not be able to walk clearly in the route under low light conditions
- Environmental information such as the slope of the road that needs to be driven (for example, the road slope is too high and the robot may not be able to pass).
- the way for the robot to obtain status information corresponding to itself or the task can be obtained by using sensors configured by the robot itself, or by other devices that can communicate with the robot to notify the robot, etc.
- the implementation of the present invention The example does not exhaustively list and limit the ways in which the robot obtains the job task and the state information of the robot itself.
- Step S20 Calculate the execution plan corresponding to the work task according to the initial state and the completion state of the work task and the state information of the robot itself.
- the current state of the robot itself and the job task needs to be considered together; among them, the current state of the robot itself and the job task can be understood as: when the robot receives the job task
- the state of the robot and the state of the job task; correspondingly, the completion state of the robot itself and the job task can be understood as: the state of the robot and the state of the job task when the robot completes the job task.
- the completion of the work task includes not only the successful completion of the work task, but also the completion of the task due to the robot's failure to complete the task.
- the robot calculates the execution plan corresponding to the operation task according to the initial state and the completion state of the operation task, combined with the state information of the robot itself, it can be implemented as follows:
- the robot obtains the task type corresponding to the task to be executed, and obtains the initial state parameters and the completion state parameters corresponding to the initial state and the completion state according to the initial state and the completion state of the task task; the robot corresponding to the state information of the robot itself State parameters, calculate the execution parameters required by the robot to complete the above-mentioned job tasks to be executed, obtain the execution plan information corresponding to the job task according to the calculated execution parameters, and formulate the execution plan information corresponding to the job task according to the execution plan information Implementation plan.
- Step S30 Execute the job task according to the calculated execution plan.
- the robot executes the corresponding tasks in accordance with the formulated execution plan.
- the robot monitors the work task and the status information of the robot itself in real time, and recognizes the work task and the status information of the robot itself. / Or whether the status information of the robot itself has changed, and perform corresponding operations according to the recognition results.
- the robot judges whether the execution plan needs to be updated and executes the corresponding job task according to the updated execution plan, which can be implemented in the following manner:
- a new execution plan is obtained by recalculation, and the obtained new execution plan is compared with the original execution plan.
- the difference between the execution efficiency corresponding to the new execution plan and the execution efficiency corresponding to the original execution plan reaches the preset range, it is determined that the execution plan needs to be updated and the corresponding operation task is executed according to the updated execution plan.
- the execution efficiency of the new execution plan is far greater than the execution efficiency of the original execution plan, and the difference between the execution efficiency of the two reaches more than 40%, and the robot judges that the execution plan needs to be updated, and executes according to the updated new execution plan. Corresponding job tasks to improve execution efficiency.
- the robot judges whether the execution plan needs to be updated and executes the corresponding job task according to the updated execution plan, which can also be implemented in the following manner:
- the robot obtains the changed change information according to the identified work task that has changed and/or the state information of the robot itself.
- the change information affects the execution of the job task according to the original execution plan.
- the execution plan is recalculated and updated according to the change information, and the corresponding job task is executed according to the updated execution plan.
- the robot judges whether the change information affects the execution of the work task according to the original execution plan, which can be implemented in the following manner:
- the robot judges whether the change information hinders the execution of the original execution plan, and/or whether it hinders the execution of the subsequent plan of the original execution plan.
- the robot judges whether the work task has been executed according to the information such as the execution time and execution status of the work task.
- step S10 the robot obtains the work task to be executed, and obtains the initial state and completion state of the work task and the state information of the robot itself.
- the job task has been successfully completed, or: a job task that cannot be completed and terminated.
- the robot obtains the work task to be executed, and obtains the initial state and the completion state of the work task and the state information of the robot itself; combining the initial state and the completion state of the work task
- the robot’s own state information calculates the execution plan corresponding to the job task; executes the job task according to the calculated execution plan; achieves the purpose of using the robot's computing power to realize its own execution ability, The work efficiency of the robot is improved, the cost is saved, and at the same time, the robot is more intelligent and flexible.
- an embodiment of the present invention also provides a device for autonomously managing execution capabilities of robots; as shown in FIG. 2, FIG. 2 shows the autonomous management execution capabilities of robots of the present invention.
- FIG. 2 shows the autonomous management execution capabilities of robots of the present invention.
- the robot autonomously manages the execution capability of the device, that is, the autonomous management device functionally includes:
- the task acquisition module 100 is used to acquire the job task to be executed, and acquire the initial state and the completion state of the job task and the state information of the robot itself.
- the plan calculation module 200 is configured to calculate the execution plan corresponding to the job task according to the initial state and the completion state of the job task and the state information of the robot itself.
- the task execution module 300 is configured to execute the job task according to the calculated execution plan.
- the task execution module 300 is used to:
- the acquired execution plan after starting to execute the work task or during the execution of the work task, it is recognized whether the state information of the work task and/or the robot itself has changed.
- the task execution module 300 is used to:
- the change information affects the execution of the job task according to the original execution plan.
- the execution plan is recalculated and updated according to the change information, and the corresponding job task is executed according to the updated execution plan.
- the task execution module 300 is used to:
- the task execution module 300 is used to:
- a new execution plan is obtained by recalculation, and the obtained new execution plan is compared with the original execution plan.
- the difference between the execution efficiency corresponding to the new execution plan and the execution efficiency corresponding to the original execution plan reaches the preset range, it is determined that the execution plan needs to be updated and the corresponding operation task is executed according to the updated execution plan.
- the task acquisition module 100 is used to:
- the robot receives the job tasks to be executed sent from the outside world through communication with the outside world.
- the robot generates tasks to be executed according to the trigger instruction.
- the task execution module 300 is used to:
- the robot obtains the work task to be executed, and obtains the initial state and the completed state of the work task and the state information of the robot itself.
- the operation task has been executed and completed includes:
- the job task has been successfully completed, or: a job task that cannot be completed and terminated.
- the device for autonomously managing the execution capability of the robot of the present invention acquires the work task to be executed, and obtains the initial state and the completion state of the work task and the state information of the robot itself; according to the initial state and the completion state of the work task, the robot is combined Own state information, calculate the execution plan corresponding to the job task; execute the job task according to the calculated execution plan; achieve the purpose of using the robot's computing power to achieve the purpose of autonomously managing its own execution ability, and improve This improves the working efficiency of the robot and saves costs. At the same time, it also makes the robot more intelligent and flexible.
- FIG. 3 is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention.
- the electronic device 1 may be a PC (Personal Computer, personal computer), or a terminal device such as a smart phone, a tablet computer, or a portable computer.
- the electronic device 1 at least includes a memory 11, a processor 12, a communication bus 13, and a network interface 14.
- the memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, and the like.
- the memory 11 may be an internal storage unit of the electronic device 1 in some embodiments, such as a hard disk of the electronic device 1.
- the memory 11 may also be an external storage device of the electronic device 1, such as a plug-in hard disk equipped on the electronic device 1, a smart memory card (Smart Media Card, SMC), Secure Digital (Secure Digital, SD) card, flash card (Flash Card), etc.
- the memory 11 may also include both an internal storage unit of the electronic device 1 and an external storage device.
- the memory 11 can be used not only to store application software and various data installed in the electronic device 1, such as the code of the autonomous management program 01, etc., but also to temporarily store data that has been output or will be output.
- the processor 12 may be a central processing unit (Central Processing Unit) in some embodiments.
- Central Processing Unit CPU
- controller microcontroller
- microprocessor or other data processing chip, used to run the program code or processing data stored in the memory 11, for example, execute the autonomous management program 01 and so on.
- the communication bus 13 is used to realize the connection and communication between these components.
- the network interface 14 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface), and is usually used to establish a communication connection between the electronic device 1 and other electronic devices.
- a standard wired interface and a wireless interface such as a WI-FI interface
- the electronic device 1 may further include a user interface.
- the user interface may include a display (Display) and an input unit such as a keyboard (Keyboard).
- the optional user interface may also include a standard wired interface and a wireless interface.
- the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode, organic light-emitting diode) touch device, etc.
- the display can also be appropriately called a display screen or a display unit, which is used to display the information processed in the electronic device 1 and to display a visualized user interface.
- FIG. 3 only shows the electronic device 1 with components 11-14 and the autonomous management program 01.
- FIG. 2 does not constitute a limitation on the electronic device 1, and may include comparison diagrams. Show fewer or more components, or combine certain components, or different component arrangements.
- the autonomous management program 01 is stored in the memory 11; the autonomous management program 01 stored in the memory 11 can be used in the processing When the autonomous management program 01 is run by the processor 12, the following steps are implemented:
- the robot obtains the work task to be executed, and obtains the initial state and the completion state of the work task and the state information of the robot itself.
- the execution plan corresponding to the work task is calculated.
- the autonomous management program 01 may also be run by the processor 12 to execute the job task according to the acquired execution plan, including:
- the acquired execution plan after starting to execute the work task or during the execution of the work task, it is recognized whether the state information of the work task and/or the robot itself has changed.
- the autonomous management program 01 may also be run by the processor 12 to determine whether the execution plan needs to be updated and execute the corresponding job tasks according to the updated execution plan, including:
- the change information affects the execution of the job task according to the original execution plan.
- the execution plan is recalculated and updated according to the change information, and the corresponding job task is executed according to the updated execution plan.
- the autonomous management program 01 may also be run by the processor 12 to determine whether the change information affects the execution of the job task according to the original execution plan, including:
- the autonomous management program 01 may also be run by the processor 12 to determine whether the execution plan needs to be updated and execute the corresponding job tasks according to the updated execution plan, including:
- a new execution plan is obtained by recalculation, and the obtained new execution plan is compared with the original execution plan.
- the autonomous management program 01 may also be run by the processor 12 to obtain the task to be executed by the robot, including:
- the robot receives the job tasks to be executed sent from the outside world through communication with the outside world.
- the robot generates tasks to be executed according to the trigger instruction.
- the autonomous management program 01 may also be run by the processor 12 to execute the job task according to the calculated execution plan, and then further includes:
- the robot obtains the work task to be executed, and obtains the initial state and the completed state of the work task and the state information of the robot itself.
- the operation task has been executed and completed includes:
- the job task has been successfully completed, or: a job task that cannot be completed and terminated.
- the electronic device of the present invention obtains the work task to be executed, and obtains the initial state and completion state of the work task and the state information of the robot itself; according to the initial state and completion state of the work task, combined with the state information of the robot itself, Calculate the execution plan corresponding to the job task; execute the job task according to the calculated execution plan; achieve the purpose of using the computing power of the robot to realize its own execution ability and improve the working efficiency of the robot , Which saves costs, and at the same time makes the robot smarter and more flexible.
- the embodiment of the present invention also provides a computer storage medium with an autonomous management program stored on the computer storage medium, and the autonomous management program may be executed by one or more processors to implement the following operations:
- the robot obtains the work task to be executed, and obtains the initial state and the completion state of the work task and the state information of the robot itself.
- the execution plan corresponding to the work task is calculated.
- the specific implementation of the computer-readable storage medium of the present invention is basically the same as the implementation principles of the corresponding embodiments of the above-mentioned method, apparatus and electronic device for autonomously managing execution capabilities of a robot, and will not be repeated here.
- the electronic device of the present invention acquires the job task to be executed, and acquires the initial state and completion state of the job task and the state information of the robot itself; according to the initial state and completion state of the job task, combined with the state information of the robot itself Calculate the execution plan corresponding to the operation task; execute the operation task according to the calculated execution plan; achieve the purpose of using the computing power of the robot to realize its own execution ability and improve the working efficiency of the robot , Which saves costs, and at the same time makes the robot smarter and more flexible.
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Abstract
A method and device for a robot to autonomously manage an execution capability, and a storage medium. The method comprises: a robot acquiring a working task to be executed, and acquiring an initial state and a completion state of the working task, and state information of the robot itself (S10); according to the initial state and the completion state of the working task and in combination with the state information of the robot itself, calculating an execution plan corresponding to the working task (S20); and executing the working task according to the execution plan obtained by means of calculation (S30). The aim of enabling, by means of an operational capability of a robot, the robot to autonomously manage an execution capability thereof is achieved, the operating efficiency of the robot is improved, the cost is saved, and moreover, the robot is smarter and more flexible.
Description
本发明涉及机器人技术领域,特别涉及一种机器人自主管理执行能力的方法、设备及存储介质。The present invention relates to the technical field of robots, in particular to a method, equipment and storage medium for autonomous management and execution capabilities of robots.
近年来电商订单迅速增长,但与此对应的物流领域的劳动力却在逐年递减,劳动力成本日益增长,供需失衡越来越严重。随着机器人技术的不断发展,物流企业逐渐开始考虑使用机器人来替代劳动力,从而达到节省成本的目的。In recent years, e-commerce orders have increased rapidly, but the labor force in the logistics field corresponding to this has been declining year by year, labor costs are increasing, and the imbalance between supply and demand has become more and more serious. With the continuous development of robot technology, logistics companies have gradually begun to consider using robots to replace labor, so as to achieve the purpose of saving costs.
目前,使用较为广泛的机器人便是AGV(Automated Guided
Vehicle)机器人,但AGV机器人灵活性不足,且成本十分昂贵。与此同时,基于AMR(Autonomous Mobile Robot,自主移动机器人)控制系列的机器人也逐渐开始发展,但由于AMR机器人现在仍然处于发展初期,且AMR机器人的自主执行能力也不能满足基本的需求。另外,现有的机器人也都需要接收服务端下发的控制指令,从而根据控制指令执行对应的任务,机器人不能自主管理自己的执行能力。At present, the most widely used robot is AGV (Automated Guided Guided
Vehicle) robots, but AGV robots have insufficient flexibility and are very expensive. At the same time, robots based on the AMR (Autonomous Mobile Robot) control series have gradually begun to develop, but because AMR robots are still in the early stages of development, and the autonomous execution capabilities of AMR robots cannot meet basic needs. In addition, existing robots also need to receive control instructions issued by the server, so as to perform corresponding tasks according to the control instructions, and the robots cannot independently manage their own execution capabilities.
针对上述问题,本发明提供一种机器人自主管理执行能力的方法、设备及存储介质,旨在利用机器人的运算能力使其实现自主管理自身的执行能力,提高工作效率。In view of the above problems, the present invention provides a method, equipment and storage medium for robots to autonomously manage their execution capabilities, aiming to use the robot's computing capabilities to enable them to autonomously manage their own execution capabilities and improve work efficiency.
为实现上述目的,本发明提供了一种机器人自主管理执行能力的方法,所述方法包括:In order to achieve the above objective, the present invention provides a method for autonomously managing execution capabilities of a robot, the method including:
机器人获取待执行的作业任务,并获取所述作业任务的初始状态和完成状态以及机器人自身的状态信息。The robot obtains the work task to be executed, and obtains the initial state and the completion state of the work task and the state information of the robot itself.
根据所述作业任务的初始状态和完成状态,结合机器人自身的状态信息,计算所述作业任务对应的执行计划。According to the initial state and the completion state of the work task and the state information of the robot itself, the execution plan corresponding to the work task is calculated.
按照计算得到的所述执行计划,执行所述作业任务。Execute the job task according to the calculated execution plan.
为实现上述目的,本发明还提供了一种机器人自主管理执行能力的装置,所述自主管理装置包括:In order to achieve the above objective, the present invention also provides a device for autonomously managing execution capabilities of a robot, and the autonomous management device includes:
任务获取模块,用于获取待执行的作业任务,并获取所述作业任务的初始状态和完成状态以及机器人自身的状态信息。The task acquisition module is used to acquire the job task to be executed, and acquire the initial state and the completion state of the job task and the state information of the robot itself.
计划计算模块,用于根据所述作业任务的初始状态和完成状态,结合机器人自身的状态信息,计算所述作业任务对应的执行计划。The plan calculation module is used to calculate the execution plan corresponding to the job task according to the initial state and the completion state of the job task, combined with the state information of the robot itself.
任务执行模块,用于按照计算得到的所述执行计划,执行所述作业任务。The task execution module is used to execute the job task according to the calculated execution plan.
为实现上述目的,本发明还提供了一种电子设备,所述电子设备包括存储器和处理器,所述存储器上存储有可在所述处理器上运行的自主管理程序,所述自主管理程序被所述处理器运行时,执行所述的机器人自主管理执行能力的方法。In order to achieve the above object, the present invention also provides an electronic device, the electronic device includes a memory and a processor, the memory stores an autonomous management program that can run on the processor, and the autonomous management program is When the processor is running, the method for autonomously managing the execution capability of the robot is executed.
为实现上述目的,本发明还提供了一种计算机存储介质,所述存储介质上存储有自主管理程序,所述自主管理程序可以被一个或者多个处理器执行,以实现所述的机器人自主管理执行能力的方法的步骤。In order to achieve the above-mentioned object, the present invention also provides a computer storage medium with an autonomous management program stored on the storage medium, and the autonomous management program can be executed by one or more processors to realize the autonomous management of the robot. Steps of the method of execution capability.
本发明一种机器人自主管理执行能力的方法、设备及存储介质可以达到如下有益效果:The method, equipment and storage medium for autonomously managing execution capabilities of robots of the present invention can achieve the following beneficial effects:
机器人获取待执行的作业任务,并获取所述作业任务的初始状态和完成状态以及机器人自身的状态信息;根据所述作业任务的初始状态和完成状态,结合机器人自身的状态信息,计算所述作业任务对应的执行计划;按照计算得到的所述执行计划,执行所述作业任务;达到了利用机器人的运算能力使其实现自主管理自身的执行能力的目的,提高了机器人的工作效率,节约了成本,同时,也使得机器人更加智能、更加灵活。The robot obtains the job task to be executed, and obtains the initial state and completion state of the job task and the state information of the robot itself; according to the initial state and completion state of the job task, combined with the state information of the robot itself, calculates the job The execution plan corresponding to the task; execute the operation task according to the calculated execution plan; achieve the purpose of using the robot's computing power to realize its own execution ability, improve the robot's work efficiency, and save the cost At the same time, it also makes the robot smarter and more flexible.
本发明的其它特征和优点将在随后的说明书中阐述,并且,部分地从说明书中变得显而易见,或者通过实施本发明而了解。本发明的目的和其他优点可通过在所写的说明书、权利要求书、以及附图中所指出的内容来实现和获得。Other features and advantages of the present invention will be described in the following description, and partly become obvious from the description, or understood by implementing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the content pointed out in the written description, claims, and drawings.
下面通过附图和实施例,对本发明的技术方案做进一步描述。The technical solutions of the present invention will be further described below through the accompanying drawings and embodiments.
附图用来提供对本发明的进一步理解,并且构成说明书的一部分,与本发明的实施例一起用于解释本发明,并不构成对本发明的限制。在附图中:The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention. In the attached picture:
图1是本发明机器人自主管理执行能力的方法的一种实施方式的流程示意图。Fig. 1 is a schematic flowchart of an embodiment of a method for autonomously managing execution capabilities of a robot according to the present invention.
图2是本发明机器人自主管理执行能力的装置的一种实施方式的功能模块示意图。Fig. 2 is a schematic diagram of functional modules of an embodiment of the device for autonomously managing execution capabilities of a robot according to the present invention.
图3是本发明电子设备的一种实施方式的内部结构示意图。FIG. 3 is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention.
以下结合附图对本发明的优选实施例进行说明,应当理解,此处所描述的优选实施例仅用于说明和解释本发明,并不用于限定本发明。The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not used to limit the present invention.
本发明提供了一种机器人自主管理执行能力的方法、设备及存储介质,用以:利用机器人的运算能力,使得该机器人能够实现自主管理自身执行能力的目的,提高工作效率和机器人的灵活性,降低成本。The present invention provides a method, equipment and storage medium for autonomously managing the execution capability of a robot, so as to utilize the computing capability of the robot to enable the robot to realize the purpose of autonomously managing its own execution capability and to improve work efficiency and flexibility of the robot. lower the cost.
如图1所示,图1是本发明机器人自主管理执行能力的方法的一种实施方式的流程示意图;本发明一种机器人自主管理执行能力的方法可以实施为如下描述的步骤S10-S30:As shown in Fig. 1, Fig. 1 is a schematic flow chart of an embodiment of the method for autonomously managing execution capability of a robot of the present invention; the method for autonomously managing execution capability of a robot of the present invention can be implemented as steps S10-S30 as described below:
步骤S10、机器人获取待执行的作业任务,并获取所述作业任务的初始状态和完成状态以及机器人自身的状态信息。Step S10: The robot obtains the work task to be executed, and obtains the initial state and the completion state of the work task and the state information of the robot itself.
本发明实施例中,机器人获取的待执行的作业任务的来源包括:机器人接收通过与外界通信获取的由外界发送的待执行的作业任务;和/或:机器人根据触发指令,自身生成的待执行的作业任务。In the embodiment of the present invention, the source of the work task to be executed obtained by the robot includes: the robot receives the work task to be executed sent by the outside and obtained through communication with the outside; and/or: the robot generates the work task to be executed by itself according to the trigger instruction Job task.
且机器人获取的待执行的作业任务可以是单个任务,也可以是多个任务,只要是机器人能够接收到的作业任务均可。作业任务的类型包括但不限于:具体的操作任务和抽象的计算任务以及任务派发等类型;比如,机器人获取的作业类型既可以是:机器人现在处于A点,到B点取一瓶矿泉水送达C点;也可以是比较抽象的,比如,可以计算1+1=2;比如,可以将接收到的多个作业任务分发到其他机器人等;比如,执行某个作业任务对应的某一计划后,重新计算该作业任务的后续计划等。And the work task to be executed obtained by the robot may be a single task or multiple tasks, as long as it is a work task that the robot can receive. The types of work tasks include, but are not limited to: specific operation tasks, abstract computing tasks, and task dispatch; for example, the type of work obtained by the robot can be: the robot is now at point A, and you can take a bottle of mineral water to point B for delivery Reach point C; it can also be more abstract, for example, you can calculate 1+1=2; for example, you can distribute multiple job tasks received to other robots, etc.; for example, perform a certain plan corresponding to a certain job task Then, recalculate the follow-up plan of the job task and so on.
机器人获取到待执行的作业任务的同时,获取该作业任务的初始状态和完成状态,且一并获取该机器人自身的状态信息。此时,机器人获取待执行的作业任务时,机器人自身的状态可能是刚开机处于待命状态,也可能是正在进行作业的状态。其中,机器人获取的该作业任务的状态包括但不限于:作业的地点、作业的内容、作业的期限等;机器人自身的状态包括但不限于:机器人的电量、重量、机器人当前所处的位置、机器人的能力信息等对作业任务可能会有影响的状态信息。其中,机器人的能力信息指的是机器人可以做些什么的信息,比如运输型机器人可以装载货物,则有最大载货量、可以运送的最大里程等信息。另外,若当前环境可能会影响到机器人执行对应的作业任务,则机器人一并获取当前的环境信息,如光照强度(比如,该机器人在弱光照条件下可能看不清路线无法行走),机器人可能需要行驶的道路坡度(比如,道路坡地过高,机器人可能无法通过)等环境信息。When the robot obtains the work task to be executed, it obtains the initial state and the completion state of the work task, and also obtains the state information of the robot itself. At this time, when the robot obtains the task to be executed, the state of the robot itself may be in the standby state when it is just turned on, or it may be the state in which it is working. Among them, the status of the job task acquired by the robot includes but is not limited to: the location of the job, the content of the job, the duration of the job, etc.; the status of the robot itself includes but is not limited to: the power of the robot, the weight, the current position of the robot, Status information that may affect the job task, such as the ability information of the robot. Among them, the robot's capability information refers to the information about what the robot can do. For example, if a transport robot can load goods, it has information such as the maximum cargo capacity and the maximum mileage that can be transported. In addition, if the current environment may affect the robot to perform the corresponding task, the robot will also obtain the current environment information, such as the light intensity (for example, the robot may not be able to walk clearly in the route under low light conditions), and the robot may Environmental information such as the slope of the road that needs to be driven (for example, the road slope is too high and the robot may not be able to pass).
本发明实施例中,机器人获取自身或作业任务对应的状态信息的获取方式,可以是利用机器人自身配置的传感器获取,可以是通过其他可以与该机器人进行通信的设备告知该机器人等,本发明实施例对机器人获取作业任务和机器人自身的状态信息的获取方式不进行一一穷举和限定。In the embodiment of the present invention, the way for the robot to obtain status information corresponding to itself or the task can be obtained by using sensors configured by the robot itself, or by other devices that can communicate with the robot to notify the robot, etc. The implementation of the present invention The example does not exhaustively list and limit the ways in which the robot obtains the job task and the state information of the robot itself.
步骤S20、根据所述作业任务的初始状态和完成状态,结合机器人自身的状态信息,计算所述作业任务对应的执行计划。Step S20: Calculate the execution plan corresponding to the work task according to the initial state and the completion state of the work task and the state information of the robot itself.
在计算待执行的所述作业任务对应的执行计划时,需要一并考虑机器人自身和作业任务对应的当前状态;其中,机器人自身和作业任务对应的当前状态可以理解为:机器人接收到作业任务时机器人的状态和作业任务的状态;对应的,机器人自身和作业任务对应的完成状态可以理解为:机器人完成作业任务时机器人的状态和作业任务的状态。其中,本发明实施例中,完成作业任务不仅包含已经成功完成作业任务,也可能是机器人无法完成而终止任务也属于完成作业任务的范畴。When calculating the execution plan corresponding to the job task to be executed, the current state of the robot itself and the job task needs to be considered together; among them, the current state of the robot itself and the job task can be understood as: when the robot receives the job task The state of the robot and the state of the job task; correspondingly, the completion state of the robot itself and the job task can be understood as: the state of the robot and the state of the job task when the robot completes the job task. Among them, in the embodiment of the present invention, the completion of the work task includes not only the successful completion of the work task, but also the completion of the task due to the robot's failure to complete the task.
机器人根据所述作业任务的初始状态和完成状态,并结合机器人自身的状态信息,计算所述作业任务对应的执行计划时,可以按照如下方式实施:When the robot calculates the execution plan corresponding to the operation task according to the initial state and the completion state of the operation task, combined with the state information of the robot itself, it can be implemented as follows:
机器人获取待执行的作业任务对应的任务类型,根据所述作业任务的初始状态和完成状态,获取初始状态和完成状态分别对应的初始状态参数和完成状态参数;结合机器人自身的状态信息对应的机器人状态参数,计算机器人完成上述待执行的作业任务所需的执行参数,根据计算得到的执行参数,获取所述作业任务对应的执行计划信息,根据所述执行计划信息,制定所述作业任务对应的执行计划。The robot obtains the task type corresponding to the task to be executed, and obtains the initial state parameters and the completion state parameters corresponding to the initial state and the completion state according to the initial state and the completion state of the task task; the robot corresponding to the state information of the robot itself State parameters, calculate the execution parameters required by the robot to complete the above-mentioned job tasks to be executed, obtain the execution plan information corresponding to the job task according to the calculated execution parameters, and formulate the execution plan information corresponding to the job task according to the execution plan information Implementation plan.
步骤S30、按照计算得到的所述执行计划,执行所述作业任务。Step S30: Execute the job task according to the calculated execution plan.
机器人按照制定的执行计划,执行对应的作业任务。The robot executes the corresponding tasks in accordance with the formulated execution plan.
同时,在按照机器人制定得到的上述执行计划,开始执行所述作业任务后以及在执行所述作业任务的过程中,机器人实时监控所述作业任务和机器人自身的状态信息,识别所述作业任务和/或机器人自身的状态信息是否发生变化,并根据识别结果,执行对应操作。At the same time, after starting to perform the work task and during the execution of the work task according to the above-mentioned execution plan formulated by the robot, the robot monitors the work task and the status information of the robot itself in real time, and recognizes the work task and the status information of the robot itself. / Or whether the status information of the robot itself has changed, and perform corresponding operations according to the recognition results.
若识别出所述作业任务和/或机器人自身的状态信息没有发生变化,则继续按照所述执行计划,执行所述作业任务。If it is recognized that the work task and/or the status information of the robot itself has not changed, then continue to execute the work task according to the execution plan.
若识别出所述作业任务和/或机器人自身的状态信息有发生变化,则判断是否需要更新执行计划并按照更新后的执行计划执行对应的作业任务。If it is recognized that the operation task and/or the status information of the robot itself has changed, it is determined whether the execution plan needs to be updated and the corresponding operation task is executed according to the updated execution plan.
在一个实施例中,机器人判断是否需要更新执行计划并按照更新后的执行计划执行对应的作业任务,可以按照如下方式实施:In one embodiment, the robot judges whether the execution plan needs to be updated and executes the corresponding job task according to the updated execution plan, which can be implemented in the following manner:
根据所述变化信息,重新计算得到新执行计划,将得到的新执行计划与原执行计划进行对比。According to the change information, a new execution plan is obtained by recalculation, and the obtained new execution plan is compared with the original execution plan.
若新执行计划对应的执行效率与原执行计划对应的执行效率的差值达到预设范围,则判断出需要更新执行计划并按照更新后的执行计划执行对应的作业任务。If the difference between the execution efficiency corresponding to the new execution plan and the execution efficiency corresponding to the original execution plan reaches the preset range, it is determined that the execution plan needs to be updated and the corresponding operation task is executed according to the updated execution plan.
比如,新执行计划的执行效率远远大于原执行计划的执行效率,二者执行效率的差值达到了40%以上,则机器人判断出需要更新执行计划,并按照更新后的新执行计划,执行对应的作业任务,提高执行效率。For example, the execution efficiency of the new execution plan is far greater than the execution efficiency of the original execution plan, and the difference between the execution efficiency of the two reaches more than 40%, and the robot judges that the execution plan needs to be updated, and executes according to the updated new execution plan. Corresponding job tasks to improve execution efficiency.
在一个实施例中,机器人判断是否需要更新执行计划并按照更新后的执行计划执行对应的作业任务,还可以按照如下方式实施:In one embodiment, the robot judges whether the execution plan needs to be updated and executes the corresponding job task according to the updated execution plan, which can also be implemented in the following manner:
机器人根据识别出的已发生变化的所述作业任务和/或机器人自身的状态信息,获取已发生变化的变化信息。The robot obtains the changed change information according to the identified work task that has changed and/or the state information of the robot itself.
根据获取的所述变化信息,判断所述变化信息是否影响按照原来的执行计划执行所述作业任务。According to the acquired change information, it is determined whether the change information affects the execution of the job task according to the original execution plan.
若所述变化信息影响按照原来的执行计划执行所述作业任务,则根据所述变化信息,重新计算执行计划并更新,按照更新后的执行计划执行对应的作业任务。If the change information affects the execution of the job task according to the original execution plan, the execution plan is recalculated and updated according to the change information, and the corresponding job task is executed according to the updated execution plan.
若所述变化信息不会影响按照原执行计划执行所述作业任务,则无需重新计算并更新执行计划。If the change information does not affect the execution of the job task according to the original execution plan, there is no need to recalculate and update the execution plan.
进一步地,机器人判断所述变化信息是否影响按照原来的执行计划执行所述作业任务,可以按照如下方式实施:Further, the robot judges whether the change information affects the execution of the work task according to the original execution plan, which can be implemented in the following manner:
机器人判断所述变化信息是否阻碍了原来执行计划的执行,和/或,是否阻碍了原来执行计划的后续计划的执行。The robot judges whether the change information hinders the execution of the original execution plan, and/or whether it hinders the execution of the subsequent plan of the original execution plan.
若有阻碍,则判断出所述变化信息影响到了按照原来的执行计划执行所述作业任务。If there is an obstacle, it is determined that the change information affects the execution of the operation task according to the original execution plan.
若没有阻碍,则判断出所述变化信息不会影响按照原来的执行计划执行所述作业任务。If there is no obstruction, it is determined that the change information will not affect the execution of the work task according to the original execution plan.
在本发明的一个实施例中,当机器人按照计算得到的执行计划,执行对应的作业任务后,机器人根据作业任务的执行时间和执行情况等信息,判断所述作业任务是否已经执行完成。In an embodiment of the present invention, after the robot executes the corresponding work task according to the calculated execution plan, the robot judges whether the work task has been executed according to the information such as the execution time and execution status of the work task.
若已经执行完成,则返回执行图1实施例描述的步骤S10,即:机器人获取待执行的作业任务,并获取所述作业任务的初始状态和完成状态以及机器人自身的状态信息。If the execution has been completed, return to step S10 described in the embodiment of FIG. 1, that is, the robot obtains the work task to be executed, and obtains the initial state and completion state of the work task and the state information of the robot itself.
若没有执行完成,则继续执行当前执行的所述作业任务。If the execution is not completed, continue to execute the currently executed job task.
其中,本发明实施例中描述的所述作业任务已经执行完成包括:Wherein, the job task described in the embodiment of the present invention has been executed and completed includes:
已经成功完成所述作业任务,或者:无法完成而终止的作业任务。The job task has been successfully completed, or: a job task that cannot be completed and terminated.
本发明机器人自主管理执行能力的方法,机器人获取待执行的作业任务,并获取所述作业任务的初始状态和完成状态以及机器人自身的状态信息;根据所述作业任务的初始状态和完成状态,结合机器人自身的状态信息,计算所述作业任务对应的执行计划;按照计算得到的所述执行计划,执行所述作业任务;达到了利用机器人的运算能力使其实现自主管理自身的执行能力的目的,提高了机器人的工作效率,节约了成本,同时,也使得机器人更加智能、更加灵活。In the method for autonomously managing the execution capability of the robot of the present invention, the robot obtains the work task to be executed, and obtains the initial state and the completion state of the work task and the state information of the robot itself; combining the initial state and the completion state of the work task The robot’s own state information calculates the execution plan corresponding to the job task; executes the job task according to the calculated execution plan; achieves the purpose of using the robot's computing power to realize its own execution ability, The work efficiency of the robot is improved, the cost is saved, and at the same time, the robot is more intelligent and flexible.
对应图1实施例描述的一种机器人自主管理执行能力的方法,本发明实施例还提供了一种机器人自主管理执行能力的装置;如图2所示,图2是本发明机器人自主管理执行能力的装置的一种实施方式的功能模块示意图;图2仅仅从功能上描述本发明一种机器人自主管理执行能力的装置。Corresponding to the method for autonomously managing execution capabilities of robots described in the embodiment in FIG. 1, an embodiment of the present invention also provides a device for autonomously managing execution capabilities of robots; as shown in FIG. 2, FIG. 2 shows the autonomous management execution capabilities of robots of the present invention. A schematic diagram of functional modules of an embodiment of the device; Figure 2 only functionally describes a device for autonomously managing execution capabilities of a robot of the present invention.
在图2所示的实施例中,所述机器人自主管理执行能力的装置,即自主管理装置在功能上包括:In the embodiment shown in Fig. 2, the robot autonomously manages the execution capability of the device, that is, the autonomous management device functionally includes:
任务获取模块100,用于获取待执行的作业任务,并获取所述作业任务的初始状态和完成状态以及机器人自身的状态信息。The task acquisition module 100 is used to acquire the job task to be executed, and acquire the initial state and the completion state of the job task and the state information of the robot itself.
计划计算模块200,用于根据所述作业任务的初始状态和完成状态,结合机器人自身的状态信息,计算所述作业任务对应的执行计划。The plan calculation module 200 is configured to calculate the execution plan corresponding to the job task according to the initial state and the completion state of the job task and the state information of the robot itself.
任务执行模块300,用于按照计算得到的所述执行计划,执行所述作业任务。The task execution module 300 is configured to execute the job task according to the calculated execution plan.
在一个实施例中,所述任务执行模块300用于:In an embodiment, the task execution module 300 is used to:
按照获取的所述执行计划,开始执行所述作业任务后或者在执行所述作业任务的过程中,识别所述作业任务和/或机器人自身的状态信息是否发生变化。According to the acquired execution plan, after starting to execute the work task or during the execution of the work task, it is recognized whether the state information of the work task and/or the robot itself has changed.
若识别出所述作业任务和/或机器人自身的状态信息没有发生变化,则继续按照所述执行计划,执行所述作业任务。If it is recognized that the work task and/or the status information of the robot itself has not changed, then continue to execute the work task according to the execution plan.
若识别出所述作业任务和/或机器人自身的状态信息有发生变化,则判断是否需要更新执行计划并按照更新后的执行计划执行对应的作业任务。If it is recognized that the operation task and/or the status information of the robot itself has changed, it is determined whether the execution plan needs to be updated and the corresponding operation task is executed according to the updated execution plan.
在一个实施例中,所述任务执行模块300用于:In an embodiment, the task execution module 300 is used to:
根据识别出的已发生变化的所述作业任务和/或机器人自身的状态信息,获取已发生变化的变化信息。Obtain the changed change information according to the identified changed work task and/or the state information of the robot itself.
根据获取的所述变化信息,判断所述变化信息是否影响按照原来的执行计划执行所述作业任务。According to the acquired change information, it is determined whether the change information affects the execution of the job task according to the original execution plan.
若所述变化信息影响按照原来的执行计划执行所述作业任务,则根据所述变化信息,重新计算执行计划并更新,按照更新后的执行计划执行对应的作业任务。If the change information affects the execution of the job task according to the original execution plan, the execution plan is recalculated and updated according to the change information, and the corresponding job task is executed according to the updated execution plan.
若所述变化信息不会影响按照原执行计划执行所述作业任务,则无需重新计算并更新执行计划。If the change information does not affect the execution of the job task according to the original execution plan, there is no need to recalculate and update the execution plan.
在一个实施例中,所述任务执行模块300用于:In an embodiment, the task execution module 300 is used to:
判断所述变化信息是否阻碍了原来执行计划的执行,和/或,是否阻碍了原来执行计划的后续计划的执行。It is determined whether the change information hinders the execution of the original execution plan, and/or whether it hinders the execution of the subsequent plan of the original execution plan.
若有阻碍,则判断出所述变化信息影响到了按照原来的执行计划执行所述作业任务。If there is an obstacle, it is determined that the change information affects the execution of the operation task according to the original execution plan.
若没有阻碍,则判断出所述变化信息不会影响按照原来的执行计划执行所述作业任务。If there is no obstruction, it is determined that the change information will not affect the execution of the work task according to the original execution plan.
在一个实施例中,所述任务执行模块300用于:In an embodiment, the task execution module 300 is used to:
根据所述变化信息,重新计算得到新执行计划,将得到的新执行计划与原执行计划进行对比。According to the change information, a new execution plan is obtained by recalculation, and the obtained new execution plan is compared with the original execution plan.
若新执行计划对应的执行效率与原执行计划对应的执行效率的差值达到预设范围,则判断出需要更新执行计划并按照更新后的执行计划执行对应的作业任务。If the difference between the execution efficiency corresponding to the new execution plan and the execution efficiency corresponding to the original execution plan reaches the preset range, it is determined that the execution plan needs to be updated and the corresponding operation task is executed according to the updated execution plan.
在一个实施例中,所述任务获取模块100用于:In an embodiment, the task acquisition module 100 is used to:
机器人接收通过与外界通信获取的由外界发送的待执行的作业任务。The robot receives the job tasks to be executed sent from the outside world through communication with the outside world.
和/或:and / or:
机器人根据触发指令,自身生成的待执行的作业任务。The robot generates tasks to be executed according to the trigger instruction.
在一个实施例中,所述任务执行模块300用于:In an embodiment, the task execution module 300 is used to:
判断所述作业任务是否已经执行完成。It is judged whether the operation task has been executed and completed.
若已经执行完成,则返回执行步骤:机器人获取待执行的作业任务,并获取所述作业任务的初始状态和完成状态以及机器人自身的状态信息。If the execution has been completed, return to the execution step: the robot obtains the work task to be executed, and obtains the initial state and the completed state of the work task and the state information of the robot itself.
若没有执行完成,则继续执行当前执行的所述作业任务。If the execution is not completed, continue to execute the currently executed job task.
其中,所述作业任务已经执行完成包括:Wherein, the operation task has been executed and completed includes:
已经成功完成所述作业任务,或者:无法完成而终止的作业任务。The job task has been successfully completed, or: a job task that cannot be completed and terminated.
本发明机器人自主管理执行能力的装置,获取待执行的作业任务,并获取所述作业任务的初始状态和完成状态以及机器人自身的状态信息;根据所述作业任务的初始状态和完成状态,结合机器人自身的状态信息,计算所述作业任务对应的执行计划;按照计算得到的所述执行计划,执行所述作业任务;达到了利用机器人的运算能力使其实现自主管理自身的执行能力的目的,提高了机器人的工作效率,节约了成本,同时,也使得机器人更加智能、更加灵活。The device for autonomously managing the execution capability of the robot of the present invention acquires the work task to be executed, and obtains the initial state and the completion state of the work task and the state information of the robot itself; according to the initial state and the completion state of the work task, the robot is combined Own state information, calculate the execution plan corresponding to the job task; execute the job task according to the calculated execution plan; achieve the purpose of using the robot's computing power to achieve the purpose of autonomously managing its own execution ability, and improve This improves the working efficiency of the robot and saves costs. At the same time, it also makes the robot more intelligent and flexible.
本发明还提供了一种电子设备,所述电子设备可以按照图1所述的机器人自主管理执行能力的方法,实现机器人执行能力的自主管理。如图3所示,图3是本发明电子设备的一种实施方式的内部结构示意图。The present invention also provides an electronic device, which can implement autonomous management of the execution capability of the robot according to the method for autonomously managing the execution capability of the robot described in FIG. 1. As shown in FIG. 3, FIG. 3 is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention.
在本实施例中,电子设备1可以是PC(Personal Computer,个人电脑),也可以是智能手机、平板电脑、便携计算机等终端设备。该电子设备1至少包括存储器11、处理器12,通信总线13,以及网络接口14。In this embodiment, the electronic device 1 may be a PC (Personal Computer, personal computer), or a terminal device such as a smart phone, a tablet computer, or a portable computer. The electronic device 1 at least includes a memory 11, a processor 12, a communication bus 13, and a network interface 14.
其中,存储器11至少包括一种类型的可读存储介质,所述可读存储介质包括闪存、硬盘、多媒体卡、卡型存储器(例如,SD或DX存储器等)、磁性存储器、磁盘、光盘等。存储器11在一些实施例中可以是电子设备1的内部存储单元,例如该电子设备1的硬盘。存储器11在另一些实施例中也可以是电子设备1的外部存储设备,例如电子设备1上配备的插接式硬盘,智能存储卡(Smart
Media Card, SMC),安全数字(Secure Digital,
SD)卡,闪存卡(Flash Card)等。进一步地,存储器11还可以既包括电子设备1的内部存储单元也包括外部存储设备。存储器11不仅可以用于存储安装于电子设备1的应用软件及各类数据,例如自主管理程序01的代码等,还可以用于暂时地存储已经输出或者将要输出的数据。The memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, and the like. The memory 11 may be an internal storage unit of the electronic device 1 in some embodiments, such as a hard disk of the electronic device 1. In other embodiments, the memory 11 may also be an external storage device of the electronic device 1, such as a plug-in hard disk equipped on the electronic device 1, a smart memory card (Smart
Media Card, SMC), Secure Digital (Secure Digital,
SD) card, flash card (Flash Card), etc. Further, the memory 11 may also include both an internal storage unit of the electronic device 1 and an external storage device. The memory 11 can be used not only to store application software and various data installed in the electronic device 1, such as the code of the autonomous management program 01, etc., but also to temporarily store data that has been output or will be output.
处理器12在一些实施例中可以是一中央处理器(Central
Processing Unit, CPU)、控制器、微控制器、微处理器或其他数据处理芯片,用于运行存储器11中存储的程序代码或处理数据,例如执行自主管理程序01等。The processor 12 may be a central processing unit (Central Processing Unit) in some embodiments.
Processing Unit (CPU), controller, microcontroller, microprocessor or other data processing chip, used to run the program code or processing data stored in the memory 11, for example, execute the autonomous management program 01 and so on.
通信总线13用于实现这些组件之间的连接通信。The communication bus 13 is used to realize the connection and communication between these components.
网络接口14可选的可以包括标准的有线接口、无线接口(如WI-FI接口),通常用于在该电子设备1与其他电子设备之间建立通信连接。The network interface 14 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface), and is usually used to establish a communication connection between the electronic device 1 and other electronic devices.
可选地,该电子设备1还可以包括用户接口,用户接口可以包括显示器(Display)、输入单元比如键盘(Keyboard),可选的用户接口还可以包括标准的有线接口、无线接口。可选地,在一些实施例中,显示器可以是LED显示器、液晶显示器、触控式液晶显示器以及OLED(Organic
Light-Emitting Diode,有机发光二极管)触摸器等。其中,显示器也可以适当的称为显示屏或显示单元,用于显示在电子设备1中处理的信息以及用于显示可视化的用户界面。Optionally, the electronic device 1 may further include a user interface. The user interface may include a display (Display) and an input unit such as a keyboard (Keyboard). The optional user interface may also include a standard wired interface and a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic
Light-Emitting Diode, organic light-emitting diode) touch device, etc. Among them, the display can also be appropriately called a display screen or a display unit, which is used to display the information processed in the electronic device 1 and to display a visualized user interface.
图3仅示出了具有组件11-14以及自主管理程序01的电子设备1,本领域技术人员可以理解的是,图2示出的结构并不构成对电子设备1的限定,可以包括比图示更少或者更多的部件,或者组合某些部件,或者不同的部件布置。FIG. 3 only shows the electronic device 1 with components 11-14 and the autonomous management program 01. Those skilled in the art can understand that the structure shown in FIG. 2 does not constitute a limitation on the electronic device 1, and may include comparison diagrams. Show fewer or more components, or combine certain components, or different component arrangements.
基于图1、图2实施例的描述,在图3所示的电子设备1实施例中,存储器11中存储有自主管理程序01;所述存储器11上存储的自主管理程序01可在所述处理器12上运行,所述自主管理程序01被所述处理器12运行时实现如下步骤:Based on the description of the embodiments in Figures 1 and 2, in the embodiment of the electronic device 1 shown in Figure 3, the autonomous management program 01 is stored in the memory 11; the autonomous management program 01 stored in the memory 11 can be used in the processing When the autonomous management program 01 is run by the processor 12, the following steps are implemented:
机器人获取待执行的作业任务,并获取所述作业任务的初始状态和完成状态以及机器人自身的状态信息。The robot obtains the work task to be executed, and obtains the initial state and the completion state of the work task and the state information of the robot itself.
根据所述作业任务的初始状态和完成状态,结合机器人自身的状态信息,计算所述作业任务对应的执行计划。According to the initial state and the completion state of the work task and the state information of the robot itself, the execution plan corresponding to the work task is calculated.
按照计算得到的所述执行计划,执行所述作业任务。Execute the job task according to the calculated execution plan.
在一个实施例中,所述自主管理程序01还可以被所述处理器12运行,以按照获取的所述执行计划,执行所述作业任务,包括:In an embodiment, the autonomous management program 01 may also be run by the processor 12 to execute the job task according to the acquired execution plan, including:
按照获取的所述执行计划,开始执行所述作业任务后或者在执行所述作业任务的过程中,识别所述作业任务和/或机器人自身的状态信息是否发生变化。According to the acquired execution plan, after starting to execute the work task or during the execution of the work task, it is recognized whether the state information of the work task and/or the robot itself has changed.
若识别出所述作业任务和/或机器人自身的状态信息没有发生变化,则继续按照所述执行计划,执行所述作业任务。If it is recognized that the work task and/or the status information of the robot itself has not changed, then continue to execute the work task according to the execution plan.
若识别出所述作业任务和/或机器人自身的状态信息有发生变化,则判断是否需要更新执行计划并按照更新后的执行计划执行对应的作业任务。If it is recognized that the operation task and/or the status information of the robot itself has changed, it is determined whether the execution plan needs to be updated and the corresponding operation task is executed according to the updated execution plan.
在一个实施例中,所述自主管理程序01还可以被所述处理器12运行,以判断是否需要更新执行计划并按照更新后的执行计划执行对应的作业任务,包括:In an embodiment, the autonomous management program 01 may also be run by the processor 12 to determine whether the execution plan needs to be updated and execute the corresponding job tasks according to the updated execution plan, including:
根据识别出的已发生变化的所述作业任务和/或机器人自身的状态信息,获取已发生变化的变化信息。Obtain the changed change information according to the identified changed work task and/or the state information of the robot itself.
根据获取的所述变化信息,判断所述变化信息是否影响按照原来的执行计划执行所述作业任务。According to the acquired change information, it is determined whether the change information affects the execution of the job task according to the original execution plan.
若所述变化信息影响按照原来的执行计划执行所述作业任务,则根据所述变化信息,重新计算执行计划并更新,按照更新后的执行计划执行对应的作业任务。If the change information affects the execution of the job task according to the original execution plan, the execution plan is recalculated and updated according to the change information, and the corresponding job task is executed according to the updated execution plan.
若所述变化信息不会影响按照原执行计划执行所述作业任务,则无需重新计算并更新执行计划。If the change information does not affect the execution of the job task according to the original execution plan, there is no need to recalculate and update the execution plan.
在一个实施例中,所述自主管理程序01还可以被所述处理器12运行,以判断所述变化信息是否影响按照原来的执行计划执行所述作业任务,包括:In an embodiment, the autonomous management program 01 may also be run by the processor 12 to determine whether the change information affects the execution of the job task according to the original execution plan, including:
判断所述变化信息是否阻碍了原来执行计划的执行,和/或,是否阻碍了原来执行计划的后续计划的执行。It is determined whether the change information hinders the execution of the original execution plan, and/or whether it hinders the execution of the subsequent plan of the original execution plan.
若有阻碍,则判断出所述变化信息影响到了按照原来的执行计划执行所述作业任务;If there is an obstacle, it is determined that the change information affects the execution of the operation task according to the original execution plan;
若没有阻碍,则判断出所述变化信息不会影响按照原来的执行计划执行所述作业任务。If there is no obstruction, it is determined that the change information will not affect the execution of the work task according to the original execution plan.
在一个实施例中,所述自主管理程序01还可以被所述处理器12运行,以判断是否需要更新执行计划并按照更新后的执行计划执行对应的作业任务,包括:In an embodiment, the autonomous management program 01 may also be run by the processor 12 to determine whether the execution plan needs to be updated and execute the corresponding job tasks according to the updated execution plan, including:
根据所述变化信息,重新计算得到新执行计划,将得到的新执行计划与原执行计划进行对比。According to the change information, a new execution plan is obtained by recalculation, and the obtained new execution plan is compared with the original execution plan.
若新执行计划对应的执行效率与原执行计划对应的执行效率的差值达到预设范围,则判断出需要更新执行计划并按照更新后的执行计划执行对应的作业任务。If the difference between the execution efficiency corresponding to the new execution plan and the execution efficiency corresponding to the original execution plan reaches a preset range, it is determined that the execution plan needs to be updated and the corresponding operation task is executed according to the updated execution plan.
在一个实施例中,所述自主管理程序01还可以被所述处理器12运行,以机器人获取待执行的作业任务,包括:In an embodiment, the autonomous management program 01 may also be run by the processor 12 to obtain the task to be executed by the robot, including:
机器人接收通过与外界通信获取的由外界发送的待执行的作业任务。The robot receives the job tasks to be executed sent from the outside world through communication with the outside world.
和/或:and / or:
机器人根据触发指令,自身生成的待执行的作业任务。The robot generates tasks to be executed according to the trigger instruction.
在一个实施例中,所述自主管理程序01还可以被所述处理器12运行,以按照计算得到的所述执行计划,执行所述作业任务,之后还包括:In an embodiment, the autonomous management program 01 may also be run by the processor 12 to execute the job task according to the calculated execution plan, and then further includes:
判断所述作业任务是否已经执行完成。It is judged whether the operation task has been executed and completed.
若已经执行完成,则返回执行步骤:机器人获取待执行的作业任务,并获取所述作业任务的初始状态和完成状态以及机器人自身的状态信息。If the execution has been completed, return to the execution step: the robot obtains the work task to be executed, and obtains the initial state and the completed state of the work task and the state information of the robot itself.
若没有执行完成,则继续执行当前执行的所述作业任务。If the execution is not completed, continue to execute the currently executed job task.
其中,所述作业任务已经执行完成包括:Wherein, the operation task has been executed and completed includes:
已经成功完成所述作业任务,或者:无法完成而终止的作业任务。The job task has been successfully completed, or: a job task that cannot be completed and terminated.
本发明电子设备,获取待执行的作业任务,并获取所述作业任务的初始状态和完成状态以及机器人自身的状态信息;根据所述作业任务的初始状态和完成状态,结合机器人自身的状态信息,计算所述作业任务对应的执行计划;按照计算得到的所述执行计划,执行所述作业任务;达到了利用机器人的运算能力使其实现自主管理自身的执行能力的目的,提高了机器人的工作效率,节约了成本,同时,也使得机器人更加智能、更加灵活。The electronic device of the present invention obtains the work task to be executed, and obtains the initial state and completion state of the work task and the state information of the robot itself; according to the initial state and completion state of the work task, combined with the state information of the robot itself, Calculate the execution plan corresponding to the job task; execute the job task according to the calculated execution plan; achieve the purpose of using the computing power of the robot to realize its own execution ability and improve the working efficiency of the robot , Which saves costs, and at the same time makes the robot smarter and more flexible.
此外,本发明实施例还提供了一种计算机存储介质,所述计算机存储介质上存储有自主管理程序,所述自主管理程序可以被一个或者多个处理器执行,以实现下操作:In addition, the embodiment of the present invention also provides a computer storage medium with an autonomous management program stored on the computer storage medium, and the autonomous management program may be executed by one or more processors to implement the following operations:
机器人获取待执行的作业任务,并获取所述作业任务的初始状态和完成状态以及机器人自身的状态信息。The robot obtains the work task to be executed, and obtains the initial state and the completion state of the work task and the state information of the robot itself.
根据所述作业任务的初始状态和完成状态,结合机器人自身的状态信息,计算所述作业任务对应的执行计划。According to the initial state and the completion state of the work task and the state information of the robot itself, the execution plan corresponding to the work task is calculated.
按照计算得到的所述执行计划,执行所述作业任务。Execute the job task according to the calculated execution plan.
本发明计算机可读存储介质具体实施方式与上述机器人自主管理执行能力的方法、装置和电子设备对应的各实施例的实施原理基本相同,在此不作赘述。The specific implementation of the computer-readable storage medium of the present invention is basically the same as the implementation principles of the corresponding embodiments of the above-mentioned method, apparatus and electronic device for autonomously managing execution capabilities of a robot, and will not be repeated here.
本领域内的技术人员应明白,本发明的实施例可提供为方法、***、或计算机程序产品。因此,本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。显然,本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样,倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内,则本发明也意图包含这些改动和变型在内。Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. In this way, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.
本发明电子设备,获取待执行的作业任务,并获取所述作业任务的初始状态和完成状态以及机器人自身的状态信息;根据所述作业任务的初始状态和完成状态,结合机器人自身的状态信息,计算所述作业任务对应的执行计划;按照计算得到的所述执行计划,执行所述作业任务;达到了利用机器人的运算能力使其实现自主管理自身的执行能力的目的,提高了机器人的工作效率,节约了成本,同时,也使得机器人更加智能、更加灵活。The electronic device of the present invention acquires the job task to be executed, and acquires the initial state and completion state of the job task and the state information of the robot itself; according to the initial state and completion state of the job task, combined with the state information of the robot itself Calculate the execution plan corresponding to the operation task; execute the operation task according to the calculated execution plan; achieve the purpose of using the computing power of the robot to realize its own execution ability and improve the working efficiency of the robot , Which saves costs, and at the same time makes the robot smarter and more flexible.
Claims (10)
- 一种机器人自主管理执行能力的方法,所述方法包括:A method for autonomously managing execution capabilities of a robot, the method comprising:机器人获取待执行的作业任务,并获取所述作业任务的初始状态和完成状态以及机器人自身的状态信息;The robot obtains the work task to be executed, and obtains the initial state and the completed state of the work task and the state information of the robot itself;根据所述作业任务的初始状态和完成状态,结合机器人自身的状态信息,计算所述作业任务对应的执行计划;Calculate the execution plan corresponding to the operation task according to the initial state and the completion state of the operation task, combined with the state information of the robot itself;按照计算得到的所述执行计划,执行所述作业任务。Execute the job task according to the calculated execution plan.
- 如权利要求1所述的机器人自主管理执行能力的方法,其中,所述按照获取的所述执行计划,执行所述作业任务,包括:The method for autonomously managing execution capabilities of a robot according to claim 1, wherein said executing said work task according to said acquired execution plan comprises:按照获取的所述执行计划,开始执行所述作业任务后或者在执行所述作业任务的过程中,识别所述作业任务和/或机器人自身的状态信息是否发生变化;According to the acquired execution plan, after starting to execute the operation task or during the execution of the operation task, identify whether the operation task and/or the status information of the robot itself has changed;若识别出所述作业任务和/或机器人自身的状态信息没有发生变化,则继续按照所述执行计划,执行所述作业任务;If it is recognized that the operation task and/or the status information of the robot itself has not changed, continue to execute the operation task according to the execution plan;若识别出所述作业任务和/或机器人自身的状态信息有发生变化,则判断是否需要更新执行计划并按照更新后的执行计划执行对应的作业任务。If it is recognized that the operation task and/or the status information of the robot itself has changed, it is determined whether the execution plan needs to be updated and the corresponding operation task is executed according to the updated execution plan.
- 如权利要求2所述的机器人自主管理执行能力的方法,其中,所述判断是否需要更新执行计划并按照更新后的执行计划执行对应的作业任务,包括:3. The method for autonomously managing execution capabilities of a robot according to claim 2, wherein said determining whether an execution plan needs to be updated and executing corresponding tasks according to the updated execution plan comprises:根据识别出的已发生变化的所述作业任务和/或机器人自身的状态信息,获取已发生变化的变化信息;Acquire the changed change information according to the identified changed job task and/or the state information of the robot itself;根据获取的所述变化信息,判断所述变化信息是否影响按照原来的执行计划执行所述作业任务;According to the acquired change information, determine whether the change information affects the execution of the job task according to the original execution plan;若所述变化信息影响按照原来的执行计划执行所述作业任务,则根据所述变化信息,重新计算执行计划并更新,按照更新后的执行计划执行对应的作业任务;If the change information affects the execution of the job task according to the original execution plan, recalculate and update the execution plan according to the change information, and execute the corresponding job task according to the updated execution plan;若所述变化信息不会影响按照原执行计划执行所述作业任务,则无需重新计算并更新执行计划。If the change information does not affect the execution of the job task according to the original execution plan, there is no need to recalculate and update the execution plan.
- 如权利要求3所述的机器人自主管理执行能力的方法,其中,所述判断所述变化信息是否影响按照原来的执行计划执行所述作业任务,包括:The method for autonomously managing execution capabilities of a robot according to claim 3, wherein the determining whether the change information affects the execution of the work task according to the original execution plan comprises:判断所述变化信息是否阻碍了原来执行计划的执行,和/或,是否阻碍了原来执行计划的后续计划的执行;Determine whether the change information hinders the execution of the original execution plan, and/or whether it hinders the execution of the subsequent plan of the original execution plan;若有阻碍,则判断出所述变化信息影响到了按照原来的执行计划执行所述作业任务;If there is an obstacle, it is determined that the change information affects the execution of the operation task according to the original execution plan;若没有阻碍,则判断出所述变化信息不会影响按照原来的执行计划执行所述作业任务。If there is no obstruction, it is determined that the change information will not affect the execution of the work task according to the original execution plan.
- 如权利要求2所述的机器人自主管理执行能力的方法,其中,所述判断是否需要更新执行计划并按照更新后的执行计划执行对应的作业任务,包括:The method for autonomously managing execution capabilities of a robot according to claim 2, wherein said determining whether an execution plan needs to be updated and executing the corresponding work task according to the updated execution plan comprises:根据所述变化信息,重新计算得到新执行计划,将得到的新执行计划与原执行计划进行对比;According to the change information, recalculate to obtain a new execution plan, and compare the obtained new execution plan with the original execution plan;若新执行计划对应的执行效率与原执行计划对应的执行效率的差值达到预设范围,则判断出需要更新执行计划并按照更新后的执行计划执行对应的作业任务。If the difference between the execution efficiency corresponding to the new execution plan and the execution efficiency corresponding to the original execution plan reaches a preset range, it is determined that the execution plan needs to be updated and the corresponding operation task is executed according to the updated execution plan.
- 如权利要求1至5任一项所述的机器人自主管理执行能力的方法,其中,所述机器人获取待执行的作业任务,包括:The method for autonomously managing execution capabilities of a robot according to any one of claims 1 to 5, wherein the obtaining of the task to be executed by the robot includes:机器人接收通过与外界通信获取的由外界发送的待执行的作业任务;The robot receives the job task to be executed from the outside world, which is obtained through communication with the outside world;和/或:and / or:机器人根据触发指令,自身生成的待执行的作业任务。The robot generates tasks to be executed according to the trigger instruction.
- 如权利要求1至5任一项所述的机器人自主管理执行能力的方法,其中,所述按照计算得到的所述执行计划,执行所述作业任务,之后还包括:The method for autonomously managing execution capabilities of a robot according to any one of claims 1 to 5, wherein said executing said work task according to said execution plan obtained by calculation, and then further comprising:判断所述作业任务是否已经执行完成;Determine whether the operation task has been executed and completed;若已经执行完成,则返回执行步骤:机器人获取待执行的作业任务,并获取所述作业任务的初始状态和完成状态以及机器人自身的状态信息;If the execution has been completed, return to the execution step: the robot obtains the task to be executed, and obtains the initial state and the completed state of the task, and the state information of the robot itself;若没有执行完成,则继续执行当前执行的所述作业任务;If the execution is not completed, continue to execute the currently executed job task;其中,所述作业任务已经执行完成包括:Wherein, the operation task has been executed and completed includes:已经成功完成所述作业任务,或者:无法完成而终止的作业任务。The job task has been successfully completed, or: a job task that cannot be completed and terminated.
- 一种机器人自主管理执行能力的装置,其中,所述自主管理装置包括:A device for autonomously managing execution capabilities of a robot, wherein the autonomous management device includes:任务获取模块,用于获取待执行的作业任务,并获取所述作业任务的初始状态和完成状态以及机器人自身的状态信息;The task acquisition module is used to acquire the job task to be executed, and acquire the initial state and the completion state of the job task and the state information of the robot itself;计划计算模块,用于根据所述作业任务的初始状态和完成状态,结合机器人自身的状态信息,计算所述作业任务对应的执行计划;The plan calculation module is used to calculate the execution plan corresponding to the job task according to the initial state and the completion state of the job task, combined with the state information of the robot itself;任务执行模块,用于按照计算得到的所述执行计划,执行所述作业任务。The task execution module is used to execute the job task according to the calculated execution plan.
- 一种电子设备,所述电子设备包括存储器和处理器,所述存储器上存储有可在所述处理器上运行的自主管理程序,所述自主管理程序被所述处理器运行时,执行如权利要求1至7中任一项所述的机器人自主管理执行能力的方法。An electronic device comprising a memory and a processor. The memory stores an autonomous management program that can run on the processor. When the autonomous management program is run by the processor, it executes The method for autonomously managing execution capabilities of robots described in any one of 1 to 7 is required.
- 一种计算机存储介质,所述存储介质上存储有自主管理程序,所述自主管理程序可以被一个或者多个处理器执行,以实现如权利要求1至7中任一项所述的机器人自主管理执行能力的方法的步骤。A computer storage medium having an autonomous management program stored on the storage medium, and the autonomous management program can be executed by one or more processors to realize the autonomous management of a robot according to any one of claims 1 to 7 Steps of the method of execution capability.
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