CN107678842A - A kind of method and system of timed task for mobile robot - Google Patents
A kind of method and system of timed task for mobile robot Download PDFInfo
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- CN107678842A CN107678842A CN201710848029.9A CN201710848029A CN107678842A CN 107678842 A CN107678842 A CN 107678842A CN 201710848029 A CN201710848029 A CN 201710848029A CN 107678842 A CN107678842 A CN 107678842A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/48—Program initiating; Program switching, e.g. by interrupt
- G06F9/4806—Task transfer initiation or dispatching
- G06F9/4843—Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
- G06F9/485—Task life-cycle, e.g. stopping, restarting, resuming execution
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/48—Program initiating; Program switching, e.g. by interrupt
- G06F9/4806—Task transfer initiation or dispatching
- G06F9/4843—Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
- G06F9/4881—Scheduling strategies for dispatcher, e.g. round robin, multi-level priority queues
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- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The purpose of the application is to provide a kind of method and system of the timed task for mobile robot, and the application is by obtaining the timing task information of the operating and setting of user；Timing task information based on setting updates the data the timed task of user in storehouse；The timed task of user in the request sync database of access timed task based on acquisition, and the timed task of user in the database is matched with current timed task, to trigger the timed task；The service type information of scheduling and decision information and determination based on the timed task, perform and serviced corresponding to the timed task；If current service is completed or Service Duration reaches, terminate the service currently performed, and update mobile robot state.Mobile robot is opened and terminate service so as to timing, help mobile robot to realize that the unmanned automation for a long time intervened is on duty.
Description
Technical field
The application is related to computer realm, more particularly to a kind of method of timed task for mobile robot and is
System.
Background technology
As computer technology, microelectric technique, network technology etc. quickly develop, robot technology has also obtained rapidly
Development, in addition to the horizontal continuous improvement of industrial robot, the various advanced robotic systems for service industry there has also been length
The development of foot, all kinds of Information Mobile Service robots increasingly popularize, such as sweeper, guider, ATM etc..At present this
Class mobile robot, which relies primarily on, manually goes to open and terminates service, long-term on duty, automation of the people to the robot
The demand of service becomes a urgent problem to be solved.
The content of the invention
The purpose of the application is to provide a kind of method and system of the timed task for mobile robot, solves existing
Having needs the problem of artificially on duty for a long time to robot in technology.
According to the one side of the application, there is provided a kind of method of timed task for mobile robot, this method
Including：
The timing task information of the operating and setting of user is obtained, wherein, the operation includes following at least any one：Add
Add, delete and change；
Timing task information based on setting updates the data the timed task of user in storehouse；
The timed task of user in the request sync database of access timed task based on acquisition, and by the database
The timed task of middle user is matched with current timed task, to trigger the timed task；
The service type information of scheduling and decision information and determination based on the timed task, perform the timing and appoint
Serviced corresponding to business；
If current service is completed or Service Duration reaches, terminate the service currently performed, and update mobile machine
People's state.
Further, in the above method, by the timed task of user in the database and the progress of current timed task
With afterwards, including：
The matching result of timed task and current timed task based on user in the database, to the timed task
It is scheduled and decision-making, and is handled when multitask is superimposed, push starts or terminated the signal of service.
Further, in the above method, methods described includes：
Fuse information according to corresponding to performing timed task in service process, determine environmental map and mobile robot
Positional information, and the mobile robot mobile route is planned according to the positional information of the environmental map and mobile robot.
Further, in the above method, methods described includes：
Based on the information of the environmental map, the positional information of mobile robot and the mobile robot mobile route,
It is controlled the motion of the mobile robot.
Further, in the above method, methods described also includes：
Fuse information in the service process according to corresponding to performing timed task and the particular case in service process are true
Assignment decisions corresponding to fixed；
The motion of the mobile robot is controlled according to the corresponding assignment decisions.
Further, while performing service corresponding to the timed task, including：
Obtain the push signal of the cycling service of the mobile robot；
According to the timed task, time, current service status generation decision-making, open, terminate and restart with control
Any one of service.
According to the application on the other hand, a kind of system of the timed task for mobile robot is additionally provided, it is described
System includes：
User interactive module, task data library module, task trigger module, task management module and service module, wherein,
The user interactive module is used for the timing task information for obtaining the operating and setting of user, wherein, the operation bag
Include following at least any one：Addition, delete and change；
The task data library module is used for the timed task for receiving and preserving user's setting, and is triggered for the task
Module is read；
The task trigger module is used to read the timed task from the task data library module, and will be read
Timed task matched with current timed task, to decide whether triggering task；
The task management module is used for the triggering task signal for receiving the task trigger module, determines that the timing is appointed
The scheduling of business and decision information, and after receiving the service end notification that currently performs, update mobile robot state；
The service module is used for scheduling and decision information and the service type of determination letter based on the timed task
Breath, perform and serviced corresponding to the timed task.
Further, the task management module is used for：
The matching result of timed task and current timed task based on user in the database, to the timed task
It is scheduled and decision-making, and is handled when multitask is superimposed, push starts or terminated the signal of service.
Further, the system includes：
Peripheral module, believe for gathering the fusion performed in service process corresponding to timed task by multiple sensors
Breath.
Further, the system includes：
Module is built in positioning, for the fuse information in the peripheral module, determines environmental map and mobile machine
The positional information of people.
Further, the system includes：
Robot algoritic module, for handling the fusion in the peripheral module based on service type in the service module
Information, and the positional information of environmental map and mobile robot in module is built according to positioning and plans that the mobile robot moves
Path, realize the service of the corresponding service type of the mobile robot.
Further, the system includes：
Motion-control module, for environmental map, the position letter of mobile robot built based on the positioning in module
The information of breath and the mobile robot mobile route in the robot algoritic module, it is controlled the fortune of the mobile robot
It is dynamic.
Further, the robot algoritic module is additionally operable to：
Particular case in the service process gathered in the peripheral module determine corresponding to assignment decisions, and by institute
Assignment decisions are stated to send to the motion-control module.
Further, the task management module is used for：
Obtain the push signal of the cycling service of the mobile robot；
According to the timed task, time, current service status generation decision-making, open, terminate and restart with control
Any one of service.
Further, the system includes：
Communication module, it is fixed to transmit for establishing the communication between terminal device, the network equipment and mobile robot
When mission bit stream, and after receiving the service end notification that currently performs, update mobile robot state.
According to the application another aspect, a kind of computer-readable medium is also provided, is stored thereon with computer-readable finger
Order, the computer-readable instruction can be executed by processor to realize a kind of method of the timed task for mobile robot.
Compared with prior art, the application is by obtaining the timing task information of the operating and setting of user, wherein, the behaviour
Work includes following at least any one：Addition, delete and change；Timing task information based on setting updates the data user in storehouse
Timed task；The timed task of user in the request sync database of access timed task based on acquisition, and by the data
The timed task of user is matched with current timed task in storehouse, to trigger the timed task；Based on the timed task
Scheduling and decision information and the service type information of determination, perform and service corresponding to the timed task；If current service
Complete or Service Duration reaches, terminate the service currently performed, and update mobile robot state.So as to timing
Mobile robot is opened and terminate service, help mobile robot to realize that the unmanned automation for a long time intervened is on duty；User
Easily timed task system can be added, deleted and be changed by interactive mode, meanwhile, mobile robot need not
Increase extra hardware spending.
Brief description of the drawings
By reading the detailed description made to non-limiting example made with reference to the following drawings, the application's is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 shows a kind of system architecture of the timed task for mobile robot provided on one side according to the application
Schematic diagram；
Fig. 2 shows the timed task system schematic for being used for mobile robot in the embodiment of the application one；
The method that Fig. 3 shows a kind of timed task for mobile robot provided according to further aspect of the application
Schematic flow sheet.
Same or analogous reference represents same or analogous part in accompanying drawing.
Embodiment
The application is described in further detail below in conjunction with the accompanying drawings.
In one typical configuration of the application, terminal, the equipment of service network and trusted party include one or more
Processor (CPU), input/output interface, network interface and internal memory.
Internal memory may include computer-readable medium in volatile memory, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only storage (ROM) or flash memory (flash RAM).Internal memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moved
State random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read-only storage (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic cassette tape, magnetic disk storage or other magnetic storage apparatus or
Any other non-transmission medium, the information that can be accessed by a computing device available for storage.Defined according to herein, computer
Computer-readable recording medium does not include non-temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
Fig. 1 shows a kind of system architecture of the timed task for mobile robot provided on one side according to the application
Schematic diagram, the system include：User interactive module 11, task data library module 12, task trigger module 13, task management mould
Block 14 and service module 15, wherein, the user interactive module 11 is used for the timing task information for obtaining the operating and setting of user,
Wherein, the operation includes following at least any one：Addition, delete and change；Here, user can be in terminal device such as hand
The mobile terminals such as machine, flat board or robotic end, by patterned editing environment, addition, delete and change timed task and determine
The species of fixed triggering service.The task data library module 12 is used for the timed task for receiving and preserving user's setting, and supplies
The task trigger module is read；Here, assignment database receives and preserves the plan target of user's setting, if necessary for task
Trigger module is read.The task trigger module 13 is used to read the timed task from the task data library module 12,
And matched the timed task read with current timed task, to decide whether triggering task；The task management mould
Block 14 is used for the triggering task signal for receiving the task trigger module, determines scheduling and the decision information of the timed task,
And after receiving the service end notification currently performed, update mobile robot state；Further, the task management module 14
For：The matching result of timed task and current timed task based on user in the database, enters to the timed task
Row scheduling and decision-making, and handled when multitask is superimposed, push starts or terminated the signal of service.Here, task management
Module 14 receives the signal of task trigger module and carries out task management, is controlled decision-making, the especially feelings to multitask superposition
Condition is acted upon, and the module is the control centre of whole timed task system.The service module 15 is used to be based on the timing
The scheduling of task and decision information and the service type information of determination, perform and serviced corresponding to the timed task, wherein, clothes
Service type is the service mode of mobile robot, and the automatic cleaning of such as sweeping robot, fixed point clean, low spot recharges.
Fig. 2 shows the timed task system schematic for being used for mobile robot in the embodiment of the application one, wherein, the system
System is mainly made up of interactive system, high in the clouds timed task system and robot system, mainly comprising above-mentioned user interactive module
11st, outside task data library module 12, task trigger module 13, task management module 14 and service module 15, in addition to communication mould
Module and motion-control module are built in block, robot algoritic module, peripheral module, positioning, wherein, modules effect is as follows：
Communication module, it is fixed to transmit for establishing the communication between terminal device, the network equipment and mobile robot
When mission bit stream, and after receiving the service end notification that currently performs, update mobile robot state.In the embodiment of the application one
In, communication module is present in interactive system, high in the clouds timed task system and robot system, it is established that mobile phone terminal to high in the clouds,
Robot plays a part of transmitting timing task information to the communication in high in the clouds.And if during mobile robot execution timed task
Current service is completed or Service Duration reaches, and terminates current service, and communication module receives this and terminates the logical of current service
Know, update mobile robot state.
Peripheral module, believe for gathering the fusion performed in service process corresponding to timed task by multiple sensors
Breath.Here, the module includes the fusion of multiple sensors, for example fall sensor, infrared sensor, radar, camera, touch
Sensor, patch wall sensor etc. are touched, also includes the output of mobile robot, such as screen, loudspeaker etc..
Module is built in positioning, for the fuse information in the peripheral module, determines environmental map and mobile machine
The positional information of people.Here, positioning builds module based on the information after peripheral module Multi-sensor Fusion, build map and carry out
Autonomous positioning so that mobile robot epistemic context and the position for identifying itself local environment.
Robot algoritic module, for handling the fusion in the peripheral module based on service type in the service module
Information, and the positional information of environmental map and mobile robot in module is built according to positioning and plans that the mobile robot moves
Path, realize the service of the corresponding service type of the mobile robot.Here, robot algoritic module is based in service module
Service type, handle the input data of peripheral module, realize the specific service of mobile robot.
Motion-control module, for environmental map, the position letter of mobile robot built based on the positioning in module
The information of breath and the mobile robot mobile route in the robot algoritic module, it is controlled the fortune of the mobile robot
It is dynamic.In the embodiment of the application one, motion-control module builds the map and positional information of module using positioning, with reference to robot
The target or routing information of algoritic module, by the motor of closed-loop control mobile robot to realize that mobile robot is smoothly entered
Row straight line, rotation etc. are moved.
In the embodiment of the application one, robot algoritic module is additionally operable to：According to the service gathered in the peripheral module
During particular case determine corresponding to assignment decisions, and the assignment decisions are sent to the motion-control module.Machine
The fuse information that peripheral module is collected is sent to positioning and builds module to generation environment map and moving machine by device people algoritic module
Device people's positional information, and build the information planning mobile robot mobile route of module generation using positioning and be sent to motion control
Module, in above process, if peripheral module runs into special circumstances when collecting information, such as collide, fall, be hanging, robot
The special circumstances addition integrated decision-making that peripheral module is collected is calculated corresponding countermeasure and is sent to motion-control module by algoritic module.
In the embodiment of the application one, the task management module is used for：Obtain the periodicity fortune of the mobile robot
Capable push signal；According to the timed task, the time, current service status generation decision-making, with control open, terminate and again
The service of any one of beginning.Here, the cycling service of task trigger module and pushing signal to task management module, task pipe
Manage module and decision-making is generated according to timed task, time, current service status, opened with control, terminate, restart service module
In new service.
By the timed task system described herein for mobile robot, be capable of timing opens mobile robot
Open and terminate service, help mobile robot to realize that the unmanned automation for a long time intervened is on duty；User can by interactive mode,
Easily timed task system is added, deleted and changed, meanwhile, mobile robot need not increase extra hardware and open
Pin.
The method that Fig. 3 shows a kind of timed task for mobile robot provided according to further aspect of the application
Schematic flow sheet, this method include：Step S11~step S15,
In step s 11, the timing task information of the operating and setting of user is obtained, wherein, the operation is included below extremely
It is any one of few：Addition, delete and change；Here, timed task such as cleans, in the time of setting for the fixed point of mobile robot
Automatic cleaning etc. in section, mobile robot is preferably sweeping robot, and timed task is single task or periodic task；Pass through
Obtain the operation of user, it is possible to achieve by interactive mode, facilitate user to be added, delete to timed task and change, its
In, interactive mode can be the mobile terminals such as mobile phone, flat board application interaction or mobile robot user interface interaction.
In step s 12, the timing task information based on setting updates the data the timed task of user in storehouse；Here, with
Family is added, deletes and changed timing task information by user interactive module, and the timing of the user got setting is appointed
Business sends to high in the clouds timed task system, high in the clouds timed task system and assignment database is modified, and preserves user's setting
Timed task.Then, in step s 13, the timing for asking user in sync database of the access timed task based on acquisition
Task, and the timed task of user in the database is matched with current timed task, to trigger the timed task；
Here, the timed task in sync database, it can be carried out with present system time with periodic access high in the clouds timed task system
Matching, decide whether to trigger timed task.
Then, in step S14, the service type letter of scheduling and decision information and determination based on the timed task
Breath, perform and serviced corresponding to the timed task；Here, timed task is scheduled and decision-making, with reference to the service class of determination
Type, perform and serviced corresponding to timed task.Finally, in step S15, if current service is completed or Service Duration arrives
Reach, terminate the service currently performed, and update mobile robot state.Here, mobile robot is performed corresponding to timed task
In service process, if current service is completed or Service Duration reaches, terminate current service, and send notice to update movement
Robotary.
Further, it is described by after the timed task of user is matched with current timed task in the database
Method includes：Step S14 ', the matching result of timed task and current timed task based on user in the database, to institute
State timed task to be scheduled and decision-making, and handled when multitask is superimposed, push starts or terminated the signal of service.
This, when the signal of the triggering task based on reception carries out task management, is handled the situation of multitask superposition, will start or
Terminate the signal push of service, specifically to perform respective service.
Further, methods described includes：Step S151, according to the fusion in service process corresponding to execution timed task
Information, the positional information of environmental map and mobile robot is determined, and according to the environmental map and the position of mobile robot
Mobile robot mobile route described in information planning.In the embodiment of the application one, according to the fuse information generation environment of collection
Map and position of mobile robot information, and use environmental map and position of mobile robot information planning the movement machine of generation
People's mobile route.
Further, methods described includes：Step S152, the positional information based on the environmental map, mobile robot
And the information of the mobile robot mobile route, it is controlled the motion of the mobile robot.Here, using environment
Figure, the positional information of mobile robot, and target or the information of mobile route with reference to the mobile robot, pass through closed loop control
The motor of mobile robot processed is moved with realizing that mobile robot smoothly carries out straight line, rotation etc..
Further, methods described also includes：Step S153, melting in service process corresponding to execution timed task
Close assignment decisions corresponding to the particular case determination in information and service process；According to the corresponding assignment decisions control institute
State the motion of mobile robot.In the embodiment of the application one, the fuse information in service process corresponding to timed task is performed
And particular case is run into service process, such as collide, fall, be hanging, the particular case run into is added into integrated decision-making meter
Corresponding countermeasure is calculated, and the motion of mobile robot is controlled according to countermeasure, such as changes straight line smooth motion.
Further, while performing service corresponding to the timed task, the periodicity of the mobile robot is obtained
The push signal of operation；According to the timed task, the time, current service status generation decision-making, with control open, terminate and again
The service of any one of new beginning.In the embodiment of the application one, cycling service decides whether triggering task and pushes triggering
Task signal, open, terminate, restart new clothes according to timed task, time, current service status generation Decision Control
Business.
In summary, by the timed task system of mobile robot described herein, following steps are completed, to realize
Timed task：Step 1：User addition, is deleted by user interactive module and changes timing task information, sent out by communication module
Deliver to high in the clouds timed task system.Step 2：High in the clouds timed task system is modified to assignment database, preserves user's setting
Timed task.Step 3：Task trigger module accesses high in the clouds timed task system, synchrodata periodically through communication module
Timed task in storehouse, is matched with present system time, and matching result is pushed into task management module.Step 4：Task
Timed task is scheduled management module and decision-making, and handles the situation of multitask superposition, will start or terminate the letter of service
Number it is pushed to robot algoritic module.Step 5：Robot service module receives the signal of task management module, with reference to service
Service in module determines the species of service, starts specific service process.Step 6：Robot algoritic module receives peripheral module
The fuse information of collection is sent to positioning and builds module, to generation environment map and position of mobile robot information, and uses positioning
Build the information planning mobile robot mobile route of module generation and be sent to motion-control module.Step 7：In step 6, if outside
If module runs into special circumstances, such as collide, fall, be hanging, robot algoritic module adds the special circumstances in peripheral module
Enter integrated decision-making and calculate corresponding countermeasure to be sent to motion-control module.Step 8：In step 6, task trigger module is periodically transported
Go and push signal and decision-making is generated according to timed task, time, current service status to task management module, task management module
Control is opened, terminated, restarting new service.Step 9：In step 6, if current service is completed or Service Duration arrives
Reach, robot algoritic module can terminate current service in service module, and notify task management module and communication module to update
Mobile robot state.Mobile robot is opened and terminate service so as to timing, help mobile robot to realize nothing
The automation for a long time that people intervenes is on duty；User can be easily added, deleted by interactive mode to timed task system
And modification, meanwhile, mobile robot need not increase extra hardware spending.
According to the application another aspect, a kind of computer-readable medium is also provided, is stored thereon with computer-readable finger
Order, the computer-readable instruction can be executed by processor to realize a kind of method of the timed task for mobile robot.
For example, the computer-readable instruction can be executed by processor：
The timing task information of the operating and setting of user is obtained, wherein, the operation includes following at least any one：Add
Add, delete and change；
Timing task information based on setting updates the data the timed task of user in storehouse；
The timed task of user in the request sync database of access timed task based on acquisition, and by the database
The timed task of middle user is matched with current timed task, to trigger the timed task；
The service type information of scheduling and decision information and determination based on the timed task, perform the timing and appoint
Serviced corresponding to business；
If current service is completed or Service Duration reaches, terminate the service currently performed, and update mobile machine
People's state.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the application to the application
God and scope.So, if these modifications and variations of the application belong to the scope of the application claim and its equivalent technologies
Within, then the application is also intended to comprising including these changes and modification.
It should be noted that the application can be carried out in the assembly of software and/or software and hardware, for example, can adopt
With application specific integrated circuit (ASIC), general purpose computer or any other realized similar to hardware device.In one embodiment
In, the software program of the application can realize steps described above or function by computing device.Similarly, the application
Software program (including related data structure) can be stored in computer readable recording medium storing program for performing, for example, RAM memory,
Magnetically or optically driver or floppy disc and similar devices.In addition, some steps or function of the application can employ hardware to realize, example
Such as, coordinate as with processor so as to perform the circuit of each step or function.
In addition, the part of the application can be applied to computer program product, such as computer program instructions, when its quilt
When computer performs, by the operation of the computer, it can call or provide according to the present processes and/or technical scheme.
And the programmed instruction of the present processes is called, it is possibly stored in fixed or moveable recording medium, and/or pass through
Broadcast or the data flow in other signal bearing medias and be transmitted, and/or be stored according to described program instruction operation
In the working storage of computer equipment.Here, including a device according to one embodiment of the application, the device includes using
Memory in storage computer program instructions and processor for execute program instructions, wherein, when the computer program refers to
When order is by the computing device, method and/or skill of the plant running based on foregoing multiple embodiments according to the application are triggered
Art scheme.
It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit herein or essential characteristic, the application can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, scope of the present application is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the application.Any reference in claim should not be considered as to the involved claim of limitation.This
Outside, it is clear that the word of " comprising " one is not excluded for other units or step, and odd number is not excluded for plural number.That is stated in device claim is multiple
Unit or device can also be realized by a unit or device by software or hardware.The first, the second grade word is used for table
Show title, and be not offered as any specific order.
Claims (16)
1. a kind of method of timed task for mobile robot, wherein, methods described includes：
The timing task information of the operating and setting of user is obtained, wherein, the operation includes following at least any one：Add, delete
Remove and change；
Timing task information based on setting updates the data the timed task of user in storehouse；
The timed task of user in the request sync database of access timed task based on acquisition, and will be used in the database
The timed task at family is matched with current timed task, to trigger the timed task；
The service type information of scheduling and decision information and determination based on the timed task, performs the timed task pair
The service answered；
If current service is completed or Service Duration reaches, terminate the service currently performed, and update mobile robot shape
State.
2. the method according to claim 11, wherein, by the timed task of user in the database and current timed task
After being matched, including：
The matching result of timed task and current timed task based on user in the database, is carried out to the timed task
Scheduling and decision-making, and handled when multitask is superimposed, push starts or terminated the signal of service.
3. according to the method for claim 1, wherein, methods described includes：
Fuse information in the service process according to corresponding to performing timed task, determine the position of environmental map and mobile robot
Information, and the mobile robot mobile route is planned according to the positional information of the environmental map and mobile robot.
4. according to the method for claim 3, wherein, methods described includes：
Based on the information of the environmental map, the positional information of mobile robot and the mobile robot mobile route, carry out
Control the motion of the mobile robot.
5. according to the method for claim 3, wherein, methods described also includes：
Fuse information in the service process according to corresponding to performing timed task and the particular case determination pair in service process
The assignment decisions answered；
The motion of the mobile robot is controlled according to the corresponding assignment decisions.
6. the method according to claim 11, wherein, while performing service corresponding to the timed task, including：
Obtain the push signal of the cycling service of the mobile robot；
According to the timed task, time, current service status generation decision-making, appoint in opening with control, terminate and restart
The service of one.
7. a kind of system of timed task for mobile robot, wherein, the system includes：
User interactive module, task data library module, task trigger module, task management module and service module, wherein,
The user interactive module be used for obtain user operating and setting timing task information, wherein, it is described operation include with
Under any one of at least：Addition, delete and change；
The task data library module is used for the timed task for receiving and preserving user's setting, and supplies the task trigger module
Read；
The task trigger module is used to read the timed task from the task data library module, and determines what is read
When task matched with current timed task, to decide whether triggering task；
The task management module is used for the triggering task signal for receiving the task trigger module, determines the timed task
Scheduling and decision information, and after receiving the service end notification that currently performs, update mobile robot state；
The service module is used for scheduling and decision information and the service type information of determination based on the timed task, holds
Serviced corresponding to the row timed task.
8. system according to claim 7, wherein, the task management module is used for：
The matching result of timed task and current timed task based on user in the database, is carried out to the timed task
Scheduling and decision-making, and handled when multitask is superimposed, push starts or terminated the signal of service.
9. system according to claim 7, wherein, the system includes：
Peripheral module, for gathering the fuse information performed in service process corresponding to timed task by multiple sensors.
10. system according to claim 9, wherein, the system includes：
Module is built in positioning, for the fuse information in the peripheral module, determines environmental map and mobile robot
Positional information.
11. the system according to any one of claim 8 to 10, wherein, the system includes：
Robot algoritic module, for handling the fusion letter in the peripheral module based on service type in the service module
Breath, and the positional information of environmental map and mobile robot in module is built according to positioning and plans that the mobile robot moves road
Footpath, realize the service of the corresponding service type of the mobile robot.
12. system according to claim 11, wherein, the system includes：
Motion-control module, for based on it is described position build in module environmental map, mobile robot positional information and
The information of mobile robot mobile route in the robot algoritic module, is controlled the motion of the mobile robot.
13. system according to claim 12, wherein, the robot algoritic module is additionally operable to：
Assignment decisions corresponding to particular case determination in the service process gathered in the peripheral module, and described will appoint
Business decision-making is sent to the motion-control module.
14. system according to claim 7, wherein, the task management module is used for：
Obtain the push signal of the cycling service of the mobile robot；
According to the timed task, time, current service status generation decision-making, appoint in opening with control, terminate and restart
The service of one.
15. system according to claim 7, wherein, the system includes：
Communication module, for establishing the communication between terminal device, the network equipment and mobile robot, appointed with transmission timing
It is engaged in information, and after receiving the service end notification that currently performs, updates mobile robot state.
16. a kind of computer-readable medium, is stored thereon with computer-readable instruction, the computer-readable instruction can be processed
Device is performed to realize the method as any one of claim 1 to 6.
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| CN201710848029.9A CN107678842A (en) | 2017-09-19 | 2017-09-19 | A kind of method and system of timed task for mobile robot |
| PCT/CN2018/104231 WO2019056947A1 (en) | 2017-09-19 | 2018-09-05 | Method and system for mobile robot task scheduling |
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