CN114012741B - Control method and device of robot based on program - Google Patents
Control method and device of robot based on program Download PDFInfo
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- CN114012741B CN114012741B CN202111529850.7A CN202111529850A CN114012741B CN 114012741 B CN114012741 B CN 114012741B CN 202111529850 A CN202111529850 A CN 202111529850A CN 114012741 B CN114012741 B CN 114012741B
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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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- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The disclosure relates to the technical field of robots, and provides a control method and a control device of a robot based on a program. The method comprises the following steps: acquiring a plurality of pieces of dimension information corresponding to a plurality of robots, wherein the dimension information corresponding to each robot comprises: group dimension information, brand dimension information, store dimension information, and robot dimension information; generating a program for each robot according to the dimension information corresponding to each robot, and storing the program of each robot into a program database; when a request instruction of the target robot is received, determining a target program of the target robot from a program database; and controlling the target robot according to the target program. By adopting the technical means, the problem that in the prior art, the robot is low in labor efficiency because the program of the most suitable version cannot be pushed to the robot is solved.
Description
Technical Field
The disclosure relates to the technical field of robots, and in particular relates to a control method and device of a robot based on a program.
Background
In the case where robots provide services for clients, one large client corresponds to a group under which a plurality of brands exist, a plurality of stores exist under each brand, and a plurality of types of robots exist in each store, then in this case, the program of each robot should be a version corresponding to the situation of each robot itself. Because the group, brand and store corresponding to each robot are different, different groups and brands require that the service provided by the robots should have the characteristics of the group and the brand, different stores indicate that the robot working environment is different, and different kinds of robots can provide different services. However, the prior art cannot push the most suitable version of the program for each robot according to the group dimension information, the brand dimension information, the store dimension information, and the robot dimension information of each robot.
In the process of implementing the disclosed concept, the inventor finds that at least the following technical problems exist in the related art: because the most suitable version of the program cannot be pushed to the robot, the robot has a problem of low manual efficiency.
Disclosure of Invention
In view of this, the embodiments of the present disclosure provide a control method, apparatus, electronic device, and computer-readable storage medium for a robot based on a program, so as to solve the problem in the prior art that the robot is inefficient because the most suitable version of the program cannot be pushed to the robot.
In a first aspect of the embodiments of the present disclosure, there is provided a control method of a robot based on a program, including: acquiring a plurality of pieces of dimension information corresponding to a plurality of robots, wherein the dimension information corresponding to each robot comprises: group dimension information, brand dimension information, store dimension information, and robot dimension information; generating a program for each robot according to the dimension information corresponding to each robot, and storing the program of each robot into a program database; when a request instruction of the target robot is received, determining a target program of the target robot from a program database; and controlling the target robot according to the target program.
In a second aspect of the embodiments of the present disclosure, there is provided a control device of a robot based on a program, including: the acquisition module is configured to acquire a plurality of dimension information corresponding to a plurality of robots, wherein the dimension information corresponding to each robot comprises: group dimension information, brand dimension information, store dimension information, and robot dimension information; a program module configured to generate a program for each robot according to dimension information corresponding to each robot, and store the program of each robot into a program database; the determining module is configured to determine a target program of the target robot from the program database when receiving a request instruction of the target robot; and a control module configured to control the target robot according to the target program.
In a third aspect of the disclosed embodiments, an electronic device is provided, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.
In a fourth aspect of the disclosed embodiments, a computer-readable storage medium is provided, which stores a computer program which, when executed by a processor, implements the steps of the above-described method.
Compared with the prior art, the embodiment of the disclosure has the beneficial effects that: acquiring a plurality of pieces of dimension information corresponding to a plurality of robots, wherein the dimension information corresponding to each robot comprises: group dimension information, brand dimension information, store dimension information, and robot dimension information; generating a program for each robot according to the dimension information corresponding to each robot, and storing the program of each robot into a program database; when a request instruction of the target robot is received, determining a target program of the target robot from a program database; and controlling the target robot according to the target program. By adopting the technical means, the problem that the robot work efficiency is low because the program of the most suitable version cannot be pushed to the robot in the prior art can be solved, and the work efficiency of the robot is further improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are required for the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 is a scene schematic diagram of an application scene of an embodiment of the present disclosure;
fig. 2 is a flow chart of a control method of a robot based on a program according to an embodiment of the disclosure;
fig. 3 is a schematic structural view of a control device of a robot based on a program according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the disclosed embodiments. However, it will be apparent to one skilled in the art that the present disclosure may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present disclosure with unnecessary detail.
A control method and apparatus of a program-based robot according to an embodiment of the present disclosure will be described in detail with reference to the accompanying drawings.
Fig. 1 is a scene diagram of an application scene of an embodiment of the present disclosure. The application scenario may include terminal devices 1, 2 and 3, a server 4 and a network 5.
The terminal devices 1, 2 and 3 may be hardware or software. When the terminal devices 1, 2 and 3 are hardware, they may be various electronic devices having a display screen and supporting communication with the server 4, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like; when the terminal apparatuses 1, 2, and 3 are software, they can be installed in the electronic apparatus as above. The terminal devices 1, 2 and 3 may be implemented as a plurality of software or software modules, or as a single software or software module, to which the embodiments of the present disclosure are not limited. Further, various applications, such as a data processing application, an instant messaging tool, social platform software, a search class application, a shopping class application, and the like, may be installed on the terminal devices 1, 2, and 3.
The server 4 may be a server that provides various services, for example, a background server that receives a request transmitted from a terminal device with which communication connection is established, and the background server may perform processing such as receiving and analyzing the request transmitted from the terminal device and generate a processing result. The server 4 may be a server, a server cluster formed by a plurality of servers, or a cloud computing service center, which is not limited in the embodiment of the present disclosure.
The server 4 may be hardware or software. When the server 4 is hardware, it may be various electronic devices that provide various services to the terminal devices 1, 2, and 3. When the server 4 is software, it may be a plurality of software or software modules providing various services to the terminal devices 1, 2, and 3, or may be a single software or software module providing various services to the terminal devices 1, 2, and 3, which is not limited by the embodiments of the present disclosure.
The network 5 may be a wired network using coaxial cable, twisted pair wire, and optical fiber connection, or may be a wireless network that can implement interconnection of various communication devices without wiring, for example, bluetooth (Bluetooth), near field communication (Near Field Communication, NFC), infrared (Infrared), etc., which is not limited by the embodiment of the present disclosure.
The user can establish a communication connection with the server 4 via the network 5 through the terminal devices 1, 2, and 3 to receive or transmit information or the like. It should be noted that the specific types, numbers and combinations of the terminal devices 1, 2 and 3, the server 4 and the network 5 may be adjusted according to the actual requirements of the application scenario, which is not limited by the embodiment of the present disclosure.
Fig. 2 is a flowchart of a control method of a robot based on a program according to an embodiment of the disclosure. The control method of the program-based robot of fig. 2 may be performed by the terminal device or the server of fig. 1. As shown in fig. 2, the control method of the program-based robot includes:
S201, acquiring a plurality of pieces of dimension information corresponding to a plurality of robots, wherein the dimension information corresponding to each robot comprises: group dimension information, brand dimension information, store dimension information, and robot dimension information;
s202, generating a program for each robot according to dimension information corresponding to each robot, and storing the program of each robot into a program database;
s203, when a request instruction of the target robot is received, determining a target program of the target robot from a program database;
s204, controlling the target robot according to the target program.
Since group dimension information, brand dimension information, store dimension information, and robot dimension information are different for each robot, in order to keep each robot work at high efficiency, the disclosed embodiments propose a method of generating a program for each robot from dimension information for each robot, which program can keep high efficiency based on the work of the robot of the program because all dimension information of the robot is considered. The program is a program instruction of a function to be realized by the robot aiming at a certain type of field of a certain brand of a certain group, wherein the function to be realized by the robot can be cleaning, distribution acquisition, customer service and the like, and the program specifically sets requirements on the speed and the like of the robot when the function is completed. The execution subject of the embodiments of the present disclosure may be a program generation system. When a request instruction of a target robot is received, determining a target program of the target robot from a program database according to the request instruction, and further controlling a robot scheme, wherein the robot scheme is a non-automatic version mode in fact, and the target robot needs to actively request a program generation system in the mode; one embodiment is an automatic version mode in which the program generation system issues the latest version of the program to the corresponding robot. Both automatic and non-automatic modes of publishing are one way of publishing blue-green. The blue-green publication is a common method for program publication, and is not described herein.
Different groups and brands require that the services provided by the robots have the characteristics of groups and brands, for example, some groups and brands have special requirements on the working speed of the robots, and some groups and brands require that certain robots provide services corresponding to the types of the robots, and some additional services, such as requiring distribution robots to provide road directing services for clients, are also required; different stores account for the robot work environment being different; different kinds of robots may provide different services, for example, cleaning robots provide cleaning services.
According to the technical scheme provided by the embodiment of the disclosure, a plurality of pieces of dimension information corresponding to a plurality of robots are obtained, wherein the dimension information corresponding to each robot includes: group dimension information, brand dimension information, store dimension information, and robot dimension information; generating a program for each robot according to the dimension information corresponding to each robot, and storing the program of each robot into a program database; when a request instruction of the target robot is received, determining a target program of the target robot from a program database; and controlling the target robot according to the target program. By adopting the technical means, the problem that the robot work efficiency is low because the program of the most suitable version cannot be pushed to the robot in the prior art can be solved, and the work efficiency of the robot is further improved.
In step S204, the control of the target robot according to the target program includes: when the target robot is a cleaning robot, controlling the target robot to clean garbage through a target program when detecting that garbage exists in an area to which the target robot belongs; when the target robot is a delivery robot, controlling the target robot to deliver the goods through a target program when detecting that the goods to be delivered exist in the area of the target robot; when the target robot is a service robot, and when detecting that an object needing to provide service exists in the area of the target robot, the target robot is controlled to provide service for the object through a target program.
The target robot may be any one of a cleaning robot, a dispensing robot, and a service robot, and of course, the target robot may be other general robots, and the embodiments of the present disclosure are merely examples of the above three embodiments as alternative embodiments. When detecting that an object needing to provide service exists in an area to which the target robot belongs, controlling the target robot to provide service for the object through a target program, for example, detecting that the old people walk unstably and need to support, the target robot can reach the old people and provide a supporting point for the old people; when a new customer is detected to enter a store, the target robot actively provides a comment service and the like.
In step S202, a program is generated for each robot according to dimension information corresponding to each robot, including: a program, comprising: robot dimension program, store dimension program, brand dimension program, and group dimension program; when the dimension information corresponding to each robot comprises the dimension information of the robot, generating a dimension program of the robot for each robot according to the dimension information corresponding to each robot; when the dimension information corresponding to each robot does not comprise the dimension information of the robot but comprises the dimension information of the store, generating a dimension program of the store for each robot according to the dimension information corresponding to each robot; when the dimension information corresponding to each robot does not comprise the dimension information of the robot and the dimension information of the store, but comprises the brand dimension information, generating a brand dimension program for each robot according to the dimension information corresponding to each robot; and when the dimension information corresponding to each robot only comprises the group dimension information, generating a group dimension program for each robot according to the dimension information corresponding to each robot.
Dimension information corresponding to each robot includes: group dimension information, brand dimension information, store dimension information, and robot dimension information. The priority is, from low to high, group dimension information, brand dimension information, store dimension information, and robot dimension information, so that when a program is generated for each robot, the robot dimension information should be prioritized, when no robot dimension information is available, the store dimension information should be prioritized, when no robot dimension information and store dimension information are available, the brand dimension information should be prioritized, and when only group dimension information is available, only group dimension information should be considered. When the robot dimension information exists, the robot dimension information is taken as a main body, other dimension information is taken as secondary information, that is, the robot dimension program is generated for each robot, and other dimension information is needed. The priority from high to low corresponds to a responsibility chain mode, which is a mode commonly used in the art and will not be described herein.
In another alternative embodiment, the group dimension information, the brand dimension information, the store dimension information and the robot dimension information may be used as main bodies, and other dimension information in the dimension information is used as secondary information, so that a robot dimension program, a store dimension program, a brand dimension program and a group dimension program are sequentially generated for each robot.
In step S204, the control of the target robot according to the target program includes: a target program comprising: robot dimension program, store dimension program, brand dimension program, and group dimension program; when a robot dimension program of the target robot exists, controlling the target robot according to the robot dimension program; when a store dimension program of the target robot exists, controlling the target robot according to the store dimension program; when a brand dimension program of the target robot exists, controlling the target robot according to the brand dimension program; when the group dimension program of the target robot exists, the target robot is controlled according to the group dimension program.
Since the priorities are group dimension information, brand dimension information, store dimension information, and robot dimension information from low to high, in order to control the robot, the robot dimension program should be prioritized, the robot is controlled by the store dimension program when there is no robot dimension program, the robot is controlled by the brand dimension program when there is no robot dimension program and store dimension program, and the robot is controlled by the group dimension program when there is only group dimension program.
After step S201 is performed, that is, a plurality of dimension information corresponding to a plurality of robots is acquired, where the dimension information corresponding to each robot includes: after the group dimension information, the brand dimension information, the store dimension information and the robot dimension information, the method further comprises: generating a program for each robot according to the dimension information corresponding to each robot; in automatic plate mode: storing the program of each robot into a program database; and respectively sending each program to the robot corresponding to each program.
The embodiment of the disclosure is an automatic version mode, in which a program generating system can issue the latest program to a corresponding robot. For example, the robot is a robot, two hotels a and B are arranged under one brand of a group, the hotel a channel is open, the flow of people is small, the hotel B channel is complex, and the flow of people is large, then the hotel a version program prescribes that the robot in hotel a can travel at a little faster in work, the hotel B version program prescribes that the robot in hotel B should travel at a little slower in work, for example, the hotel a program limits the highest speed of the robot to 2 meters per second, and the hotel B program limits the highest speed of the robot to 1 meter per second. After programs of the hotel A and the hotel B are established, the program generating system respectively issues the programs of the hotel A and the hotel B to robots of the hotel A and the hotel B, wherein each hotel can have a plurality of robots.
Generating a program for each robot according to the dimension information corresponding to each robot can be understood as: the programs corresponding to the services provided by many robots are existing, and the parameters, such as the travelling speed, are only required to be modified on the basis of the original programs for each robot, and the original services, such as the services for guiding pedestrians, are increased or decreased for the distribution robot.
After performing step S204, i.e. after controlling the target robot according to the target program, the method further comprises: after the target robot works for a preset time period based on the target program, service information of the target robot is obtained; and optimizing the target program according to the service information.
The program issued to the target robot may have a problem, and the embodiment of the present disclosure provides a method for optimizing the program: service information of the target robot is acquired, and a program is adjusted according to the service information. Illustrating: after the target robot operates for a preset period of time based on the target program, the service information of the robot shows that the robot operating speed is too slow, and then the robot operating speed should be adjusted fast in the target program.
In step S204, the control of the target robot according to the target program includes: acquiring task information of a target robot; constructing a working instruction set for the target robot according to the task information, the target program and the dimension information of the target robot; and controlling the target robot according to the working instruction set.
Taking the dispensing robot as an example, the task information is that the target robot needs to complete the dispensing information within a certain period of time, and includes: information on the fitting, time required to complete, etc. The target program provides that the speed of the target robot at the corner of the channel is 0.5-1 meter, the straight speed is 1.5-3 meters, and the running speed of the pedestrian is 1-1.5 meters; according to the dimension information of the target program and the target robot, it is possible to specifically determine which speed section the target robot adopts at any time and any place (the dimension information of the target robot, such as store dimension information, provides environment information of the store). F, combining one F task in the task information with dimension information of the target robot, and planning one path: the vehicle is firstly straight moved for 30 meters and turned left, the total length of the left turn is 4 meters, and the vehicle is straight moved for 50 meters to reach a destination. The task information indicates that the target robot is heavy in task and many accessories are not delivered, so the target robot should increase the speed as much as possible. Constructing a working instruction set for the target robot according to the F task of the task information, the target program and the dimension information of the target robot, wherein the working instruction set is as follows: the left turn is completed at a speed of 3 meters and 30 meters, the total length of the left turn is 4 meters, and the destination is reached at a speed of 3 meters and 50 meters.
Any combination of the above optional solutions may be adopted to form an optional embodiment of the present application, which is not described herein in detail.
The following are device embodiments of the present disclosure that may be used to perform method embodiments of the present disclosure. For details not disclosed in the embodiments of the apparatus of the present disclosure, please refer to the embodiments of the method of the present disclosure.
Fig. 3 is a schematic view of a control device of a robot based on a program according to an embodiment of the present disclosure. As shown in fig. 3, the control device for a program-based robot includes:
an obtaining module 301, configured to obtain a plurality of dimension information corresponding to a plurality of robots, where the dimension information corresponding to each robot includes: group dimension information, brand dimension information, store dimension information, and robot dimension information;
a program module 302 configured to generate a program for each robot according to dimension information corresponding to each robot, and store the program of each robot into a program database;
a determining module 303 configured to determine a target program of the target robot from the program database when a request instruction of the target robot is received;
and a control module 304 configured to control the target robot according to the target program.
Since group dimension information, brand dimension information, store dimension information, and robot dimension information are different for each robot, in order to keep each robot work at high efficiency, the disclosed embodiments propose a method of generating a program for each robot from dimension information for each robot, which program can keep high efficiency based on the work of the robot of the program because all dimension information of the robot is considered. The program is a program instruction of a function to be realized by the robot aiming at a certain type of field of a certain brand of a certain group, wherein the function to be realized by the robot can be cleaning, distribution acquisition, customer service and the like, and the program specifically sets requirements on the speed and the like of the robot when the function is completed. The execution subject of the embodiments of the present disclosure may be a program generation system. When a request instruction of a target robot is received, determining a target program of the target robot from a program database according to the request instruction, and further controlling a robot scheme, wherein the robot scheme is a non-automatic release mode in fact, and the target robot needs to actively request a program generation system in the mode; one embodiment is an automatic release mode in which the program generation system will release the latest version of the program to the corresponding robot.
Different groups and brands require that the services provided by the robots have the characteristics of groups and brands, for example, some groups and brands have special requirements on the working speed of the robots, and some groups and brands require that certain robots provide services corresponding to the types of the robots, and some additional services, such as requiring distribution robots to provide road directing services for clients, are also required; different stores account for the robot work environment being different; different kinds of robots may provide different services, for example, cleaning robots provide cleaning services.
According to the technical scheme provided by the embodiment of the disclosure, a plurality of pieces of dimension information corresponding to a plurality of robots are obtained, wherein the dimension information corresponding to each robot includes: group dimension information, brand dimension information, store dimension information, and robot dimension information; generating a program for each robot according to the dimension information corresponding to each robot, and storing the program of each robot into a program database; when a request instruction of the target robot is received, determining a target program of the target robot from a program database; and controlling the target robot according to the target program. By adopting the technical means, the problem that the robot work efficiency is low because the program of the most suitable version cannot be pushed to the robot in the prior art can be solved, and the work efficiency of the robot is further improved.
Optionally, the control module 304 is further configured to control the target robot to clean up the garbage through the target program when detecting that the garbage exists in the area to which the target robot belongs when the target robot is the cleaning robot; when the target robot is a delivery robot, controlling the target robot to deliver the goods through a target program when detecting that the goods to be delivered exist in the area of the target robot; when the target robot is a service robot, and when detecting that an object needing to provide service exists in the area of the target robot, the target robot is controlled to provide service for the object through a target program.
The target robot may be any one of a cleaning robot, a dispensing robot, and a service robot, and of course, the target robot may be other general robots, and the embodiments of the present disclosure are merely examples of the above three embodiments as alternative embodiments. When detecting that an object needing to provide service exists in an area to which the target robot belongs, controlling the target robot to provide service for the object through a target program, for example, detecting that the old people walk unstably and need to support, the target robot can reach the old people and provide a supporting point for the old people; when a new customer is detected to enter a store, the target robot actively provides a comment service and the like.
Optionally, the program module 302 is further configured to generate a robot dimension program for each robot according to the dimension information corresponding to each robot when the dimension information corresponding to each robot includes the robot dimension information; when the dimension information corresponding to each robot does not comprise the dimension information of the robot but comprises the dimension information of the store, generating a dimension program of the store for each robot according to the dimension information corresponding to each robot; when the dimension information corresponding to each robot does not comprise the dimension information of the robot and the dimension information of the store, but comprises the brand dimension information, generating a brand dimension program for each robot according to the dimension information corresponding to each robot; and when the dimension information corresponding to each robot only comprises the group dimension information, generating a group dimension program for each robot according to the dimension information corresponding to each robot.
Dimension information corresponding to each robot includes: group dimension information, brand dimension information, store dimension information, and robot dimension information. The priority is, from low to high, group dimension information, brand dimension information, store dimension information, and robot dimension information, so that when a program is generated for each robot, the robot dimension information should be prioritized, when no robot dimension information is available, the store dimension information should be prioritized, when no robot dimension information and store dimension information are available, the brand dimension information should be prioritized, and when only group dimension information is available, only group dimension information should be considered. When the robot dimension information exists, the robot dimension information is taken as a main body, other dimension information is taken as secondary information, that is, the robot dimension program is generated for each robot, and other dimension information is needed.
Optionally, the program module 302 is further configured to generate, for each robot, a robot dimension program, a store dimension program, a brand dimension program, and a group dimension program in sequence, with group dimension information, brand dimension information, store dimension information, and robot dimension information as main bodies, and other dimension information in the dimension information as secondary information.
Optionally, the control module 304 is further configured to control the target robot according to the robot dimension program when the robot dimension program of the target robot is present; when a store dimension program of the target robot exists, controlling the target robot according to the store dimension program; when a brand dimension program of the target robot exists, controlling the target robot according to the brand dimension program; when the group dimension program of the target robot exists, the target robot is controlled according to the group dimension program.
Since the priorities are group dimension information, brand dimension information, store dimension information, and robot dimension information from low to high, in order to control the robot, the robot dimension program should be prioritized, the robot is controlled by the store dimension program when there is no robot dimension program, the robot is controlled by the brand dimension program when there is no robot dimension program and store dimension program, and the robot is controlled by the group dimension program when there is only group dimension program.
Optionally, the control module 304 is further configured to generate a program for each robot according to the dimension information corresponding to each robot; in automatic plate mode: storing the program of each robot into a program database; and respectively sending each program to the robot corresponding to each program.
The embodiment of the disclosure is an automatic release mode, in which a program generation system can issue the latest program to a corresponding robot. For example, the robot is a robot, two hotels a and B are arranged under one brand of a group, the hotel a channel is open, the flow of people is small, the hotel B channel is complex, and the flow of people is large, then the hotel a version program prescribes that the robot in hotel a can travel at a little faster in work, the hotel B version program prescribes that the robot in hotel B should travel at a little slower in work, for example, the hotel a program limits the highest speed of the robot to 2 meters per second, and the hotel B program limits the highest speed of the robot to 1 meter per second. After programs of the hotel A and the hotel B are established, the program generating system respectively issues the programs of the hotel A and the hotel B to robots of the hotel A and the hotel B, wherein each hotel can have a plurality of robots.
Generating a program for each robot according to the dimension information corresponding to each robot can be understood as: the programs corresponding to the services provided by many robots are existing, and the programs are generated for each robot only by modifying parameters, such as the travelling speed, on the basis of the original parameters and increasing or decreasing the original services.
Optionally, the control module 304 is further configured to obtain service information of the target robot after the target robot works for a preset period of time based on the target program; and optimizing the target program according to the service information.
The program issued to the target robot may have a problem, and the embodiment of the present disclosure provides a method for optimizing the program: service information of the target robot is acquired, and a program is adjusted according to the service information. Illustrating: after the target robot operates for a preset period of time based on the target program, the service information of the robot shows that the robot operating speed is too slow, and then the robot operating speed should be adjusted fast in the target program.
Optionally, the control module 304 is further configured to obtain task information of the target robot; constructing a working instruction set for the target robot according to the task information, the target program and the dimension information of the target robot; and controlling the target robot according to the working instruction set.
Taking the dispensing robot as an example, the task information is that the target robot needs to complete the dispensing information within a certain period of time, and includes: information on the fitting, time required to complete, etc. The target program provides that the speed of the target robot at the corner of the channel is 0.5-1 meter, the straight speed is 1.5-3 meters, and the running speed of the pedestrian is 1-1.5 meters; according to the dimension information of the target program and the target robot, it is possible to specifically determine which speed section the target robot adopts at any time and any place (the dimension information of the target robot, such as store dimension information, provides environment information of the store). F, combining one F task in the task information with dimension information of the target robot, and planning one path: the vehicle is firstly straight moved for 30 meters and turned left, the total length of the left turn is 4 meters, and the vehicle is straight moved for 50 meters to reach a destination. The task information indicates that the target robot is heavy in task and many accessories are not delivered, so the target robot should increase the speed as much as possible. Constructing a working instruction set for the target robot according to the F task of the task information, the target program and the dimension information of the target robot, wherein the working instruction set is as follows: the left turn is completed at a speed of 3 meters and 30 meters, the total length of the left turn is 4 meters, and the destination is reached at a speed of 3 meters and 50 meters.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not constitute any limitation on the implementation process of the embodiments of the disclosure.
Fig. 4 is a schematic diagram of an electronic device 4 provided by an embodiment of the present disclosure. As shown in fig. 4, the electronic apparatus 4 of this embodiment includes: a processor 401, a memory 402 and a computer program 403 stored in the memory 402 and executable on the processor 401. The steps of the various method embodiments described above are implemented by processor 401 when executing computer program 403. Alternatively, the processor 401, when executing the computer program 403, performs the functions of the modules/units in the above-described apparatus embodiments.
Illustratively, the computer program 403 may be partitioned into one or more modules/units, which are stored in the memory 402 and executed by the processor 401 to complete the present disclosure. One or more of the modules/units may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program 403 in the electronic device 4.
The electronic device 4 may be a desktop computer, a notebook computer, a palm computer, a cloud server, or the like. The electronic device 4 may include, but is not limited to, a processor 401 and a memory 402. It will be appreciated by those skilled in the art that fig. 4 is merely an example of the electronic device 4 and is not meant to be limiting of the electronic device 4, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the electronic device may also include an input-output device, a network access device, a bus, etc.
The processor 401 may be a central processing unit (Central Processing Unit, CPU) or other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 402 may be an internal storage unit of the electronic device 4, for example, a hard disk or a memory of the electronic device 4. The memory 402 may also be an external storage device of the electronic device 4, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the electronic device 4. Further, the memory 402 may also include both internal storage units and external storage devices of the electronic device 4. The memory 402 is used to store computer programs and other programs and data required by the electronic device. The memory 402 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
In the embodiments provided in the present disclosure, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other manners. For example, the apparatus/electronic device embodiments described above are merely illustrative, e.g., the division of modules or elements is merely a logical functional division, and there may be additional divisions of actual implementations, multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present disclosure may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present disclosure may implement all or part of the flow of the method of the above-described embodiments, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of the method embodiments described above. The computer program may comprise computer program code, which may be in source code form, object code form, executable file or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
The above embodiments are merely for illustrating the technical solution of the present disclosure, and are not limiting thereof; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the disclosure, and are intended to be included in the scope of the present disclosure.
Claims (9)
1. A method for controlling a robot based on a program, comprising:
acquiring a plurality of pieces of dimension information corresponding to a plurality of robots, wherein each piece of dimension information corresponding to the robot comprises: group dimension information, brand dimension information, store dimension information, and robot type dimension information;
generating a program for each robot according to the dimension information corresponding to each robot, and storing the program of each robot into a program database;
when a request instruction of a target robot is received, determining a target program of the target robot from the program database;
Controlling the target robot according to the target program;
generating a program for each robot according to the dimension information corresponding to each robot, wherein the program comprises the following steps: the program includes: robot dimension program, store dimension program, brand dimension program, and group dimension program; when the dimension information corresponding to each robot comprises the robot type dimension information, generating a robot dimension program for each robot according to the dimension information corresponding to each robot; when the dimension information corresponding to each robot does not include the robot type dimension information but includes the store dimension information, generating a store dimension program for each robot according to the dimension information corresponding to each robot; when the dimension information corresponding to each robot does not comprise the robot type dimension information and the shop dimension information, but comprises the brand dimension information, generating a brand dimension program for each robot according to the dimension information corresponding to each robot; and when the dimension information corresponding to each robot only comprises the group dimension information, generating a group dimension program for each robot according to the dimension information corresponding to each robot.
2. The method of claim 1, wherein the controlling the target robot according to the target program comprises:
when the target robot is a cleaning robot and when detecting that garbage exists in a region to which the target robot belongs, controlling the target robot to clean the garbage through the target program;
when the target robot is a delivery robot, controlling the target robot to deliver the goods through the target program when detecting that the goods to be delivered exist in the area to which the target robot belongs;
when the target robot is a service robot, and when detecting that an object needing to provide service exists in a region to which the target robot belongs, controlling the target robot to provide service for the object through the target program.
3. The method of claim 1, wherein the controlling the target robot according to the target program comprises:
the target program includes: robot dimension program, store dimension program, brand dimension program, and group dimension program;
when the robot dimension program of the target robot exists, controlling the target robot according to the robot dimension program;
When the store dimension program of the target robot exists, controlling the target robot according to the store dimension program;
when the brand dimension program of the target robot exists, controlling the target robot according to the brand dimension program;
and when the group dimension program of the target robot exists, controlling the target robot according to the group dimension program.
4. The method of claim 1, wherein the obtaining a plurality of dimension information corresponding to a plurality of robots, wherein the dimension information corresponding to each robot comprises: after the group dimension information, the brand dimension information, the store dimension information, and the robot type dimension information, the method further comprises:
generating a program for each robot according to the dimension information corresponding to each robot;
in automatic plate mode:
storing the program of each robot into a program database;
and respectively sending each program to the robot corresponding to each program.
5. The method of claim 1, wherein after the controlling the target robot according to the target program, the method further comprises:
After the target robot works for a preset time period based on the target program, service information of the target robot is obtained;
and optimizing the target program according to the service information.
6. The method of claim 1, wherein the controlling the target robot according to the target program comprises:
acquiring task information of the target robot;
constructing a working instruction set for the target robot according to the task information, the target program and the dimension information of the target robot;
and controlling the target robot according to the working instruction set.
7. A control device for a robot based on a program, comprising:
an acquisition module configured to acquire a plurality of pieces of dimension information corresponding to a plurality of robots, wherein each piece of dimension information corresponding to the robot includes: group dimension information, brand dimension information, store dimension information, and robot type dimension information;
a program module configured to generate a program for each of the robots according to the dimension information corresponding to each of the robots, and store the program of each of the robots into a program database;
The determining module is configured to determine a target program of the target robot from the program database when a request instruction of the target robot is received;
a control module configured to control the target robot according to the target program;
the program module is further configured to generate a robot dimension program for each robot according to the dimension information corresponding to each robot when the dimension information corresponding to each robot includes the robot type dimension information; when the dimension information corresponding to each robot does not include the robot type dimension information but includes the store dimension information, generating a store dimension program for each robot according to the dimension information corresponding to each robot; when the dimension information corresponding to each robot does not comprise the robot type dimension information and the shop dimension information, but comprises the brand dimension information, generating a brand dimension program for each robot according to the dimension information corresponding to each robot; and when the dimension information corresponding to each robot only comprises the group dimension information, generating a group dimension program for each robot according to the dimension information corresponding to each robot.
8. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 6 when the computer program is executed.
9. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 6.
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| CN109048952A (en) * | 2018-09-12 | 2018-12-21 | 北京极智嘉科技有限公司 | A kind of robot control system and method calculate equipment and storage medium |
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