CN105094011A - House chore management robot and task processing method - Google Patents
House chore management robot and task processing method Download PDFInfo
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- CN105094011A CN105094011A CN201510386246.1A CN201510386246A CN105094011A CN 105094011 A CN105094011 A CN 105094011A CN 201510386246 A CN201510386246 A CN 201510386246A CN 105094011 A CN105094011 A CN 105094011A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0421—Multiprocessor system
Abstract
The invention discloses a house chore management robot and a task processing method. The task processing method comprises that: A the house chore management robot obtains a planning task assigned by a user, B the house chore management robot generates an execution strategy corresponding to the planning task, and C the house chore management robot controls the corresponding house chore robot to execute the task according to the execution strategy after the task is trigger. The house chore management robot can control a plurality of house chore robots to work cooperatively according to the planning tasks assigned by the user, improves the working efficiency and guarantees the ordering of the task execution.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of housework house keeper robot and task processing method thereof.
Background technology
In recent years, the intelligent robot development of family expenses is very fast, although these robots still compare " original ", has possessed the fundamental characteristics of our cognitive robot concept, kind also varied, " dance robot " of such as leading amusement, " private tutor robot ", " sweeping robot ", " window wiping robot " of leading housework, " supervisory-controlled robot " of leading security protection etc., can predict, robot will be more and more universal in the near future, penetrate into the various aspects of people's life.
But inventor finds when realizing of the present invention, there is following shortcoming in current existing housework robot:
1. be all full-time robot mostly, be only absorbed in some particular job;
2., based on the consideration to hardware cost factor, most inside chip arithmetic capability is more weak;
3., based on the consideration to software cost factor, service logic is simple, and key algorithm performance is not high;
4. each robot does things in his own way, and multiple robot cannot collaborative work, needs human intervention to plan as a whole.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of housework house keeper robot and task processing method thereof, cannot the problem of collaborative work in order to solve the multiple robot of prior art.
For solving the problems of the technologies described above, the invention provides a kind of housework house keeper robot and task processing method thereof, said method comprising the steps of:
A, housework house keeper robot obtain the plan target that user disposes;
B, described housework house keeper machine life become the implementation strategy corresponding with described plan target;
C, task trigger after, described housework house keeper robot controls corresponding housework robot according to described implementation strategy and executes the task.
Further, after described steps A, also comprise: described housework house keeper robot assesses the plan target obtained, and the implementation effect of expection is fed back to user.
Further, before described step B, also comprise: after arriving the time preset or the confirmation obtaining user, described housework house keeper robot makes described plan target come into force.
Further, described step B specifically comprises: described housework house keeper robot, according to the corresponding relation of housework knowledge, scene information, plan target and housework robot and housework, generates the implementation strategy corresponding with described plan target.
Further, described step C specifically comprises:
Task trigger module triggers described plan target;
The implementation strategy that the inquiry of described housework house keeper robot is corresponding with described plan target;
According to described implementation strategy, described housework house keeper robot sends control command to corresponding housework robot, and receives the execution state information of described housework robot feedback;
After the task of receiving all housework robots feedback in described plan target completes information, task terminates.
Further, after described step C, also comprise: described housework house keeper robot evaluation tasks performance, and logger task assessment result; Described housework house keeper robot, according to described task assessment result, is optimized implementation strategy.
Further, described method also comprises interpolation, deletes the operation of housework robot;
The operation of described interpolation housework robot comprises:
Described housework house keeper robot obtains from housework robot to be added and resolves the functional description file of described housework robot;
When described housework house keeper robot supports all functions of described housework robot, described housework robot information is saved in robot list by described housework house keeper robot, and sends the successful message of interpolation to described housework robot;
When described housework house keeper robot supports the partial function of described housework robot, the separating function that described housework house keeper robot will not support, and be stored into standby resources pond, then described housework robot information is saved in robot list, and sends the successful message of interpolation to described housework robot;
When described housework house keeper robot does not support the function of described housework robot, described housework house keeper robot sends to described housework robot and adds failure message, or described housework robot information is saved in standby resources pond, and sends the successful message of interpolation to described housework robot;
The operation of described deletion housework robot comprises: housework robot information to be deleted is deleted by described housework house keeper robot from robot list.
Further, described method also comprises the management of upper strata housework house keeper robot to the housework house keeper robot that rolls off the production line;
The described management to the housework house keeper robot that rolls off the production line comprises:
Optimize the dispensing of the housework robot that the housework house keeper robot that respectively rolls off the production line manages; And/or
Gather the knowledge of all housework house keeper robots that rolls off the production line, and give all housework house keeper robots that rolls off the production line by the knowledge sharing gathered; And/or
The housework robotic team that the housework house keeper robot that respectively rolls off the production line manages is assessed, and distributes the task of different priorities to each housework robotic team according to assessment result.
Further, described method also comprises: carry out knowledge sharing to not having between the housework house keeper robot of subordinate relation.
Further, described housework house keeper robot, according to shared knowledge, is optimized implementation strategy.
The present invention also provides a kind of housework house keeper robot, and described housework house keeper robot comprises:
Housework knowledge storing unit, for storing housework knowledge description file;
Scene information storage unit, for storing the scene description document of administered scene;
Task location, for store tasks description document, comprises the plan target that user disposes in described task description file;
Robot information memory cell, for storing the functional description file of managed housework robot, described functional description file comprises the corresponding relation of housework robot and housework and the control information of housework robot;
Implementation strategy generation unit, be connected with described housework knowledge storing unit, scene information storage unit, task location and robot information memory cell respectively, for the corresponding relation according to housework knowledge, scene information, plan target and housework robot and housework, generate the implementation strategy corresponding with described plan target;
Robot control unit, is connected with described implementation strategy generation unit and robot information memory cell respectively, for the control information according to described implementation strategy and housework robot, controls corresponding housework robot and executes the task.
Further, described robot information memory cell comprises robot list and standby resources pond, described robot information memory cell stores the function of housework robot, the function that the list of described robot is supported for storing described housework house keeper robot, the function that described standby resources pond is not supported for storing described housework house keeper robot.
Beneficial effect of the present invention is as follows:
The plan target that housework house keeper robot of the present invention can dispose according to user, controls the collaborative work of multiple housework robot, and common this plan target of execution, improves work efficiency, ensure that the order of executing the task.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the task processing method of a kind of housework house keeper robot of the embodiment of the present invention;
Fig. 2 is a kind of process flow diagram controlling housework robot and execute the task of the embodiment of the present invention;
Fig. 3 is a kind of operational flowchart adding housework robot of the embodiment of the present invention;
Fig. 4 is the structural representation of a kind of housework house keeper robot of the embodiment of the present invention.
Embodiment
Cannot the problem of collaborative work in order to solve the multiple robot of prior art, the invention provides a kind of housework house keeper robot and task processing method thereof, below in conjunction with accompanying drawing and embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, do not limit the present invention.
Embodiment 1
The task processing method of a kind of housework house keeper robot of the present embodiment as shown in Figure 1, comprises the following steps:
Step s101, housework house keeper robot obtains the plan target that user disposes.In the present embodiment, user also comprises change plan target to the housework house keeper robot task that maps out the plan, it realizes being realized by editor's task description file, user operates the configuration interface of house keeper by input interface (such as touch screen), task description file is edited, thus disposes or change plan target.
Step s102, housework house keeper robot assesses the plan target obtained, and the implementation effect of expection is fed back to user.In the present embodiment, housework house keeper robot assesses for the plan target after change, then the implementation effect of expection (if comprise the time used, robot uses saturation degree, consumes power to estimate can not to perform on schedule provide reasons and suggestions) is informed user, informing mode can be voice, image etc.
Step s103, after arriving the time preset or the confirmation obtaining user, housework house keeper robot makes described plan target come into force.In the present embodiment, a confirmation phase (such as 1 hour) is had after plan target change, real the performing according to new plan target of the housework house keeper machine talent after the confirmation phase, user also can allow plan target come into force by modes such as similar click " confirmation " buttons.
Step s104, housework house keeper machine life becomes the implementation strategy corresponding with plan target.In the present embodiment, after plan target comes into force, housework house keeper robot obtains a preferred implementation strategy by computing, and by for subsequent use in this policy store to self storer.Wherein, housework house keeper robot is the corresponding relation according to housework knowledge, scene information, plan target and housework robot and housework, generates the implementation strategy corresponding with plan target.
Step s105, after task triggers, housework house keeper robot controls corresponding housework robot according to implementation strategy and executes the task.In the present embodiment, when entering into task triggering instance, housework house keeper robot interior has a task trigger module, is used for exciting house keeper to carry out executive plan task in real time.The idiographic flow of this process as shown in Figure 2, mainly comprises the following steps: first, and task trigger module triggers described plan target; Secondly, the implementation strategy that the inquiry of described housework house keeper robot is corresponding with described plan target; Then according to described implementation strategy, described housework house keeper robot sends control command to corresponding housework robot, and receives the execution state information of described housework robot feedback; Finally after the task of receiving all housework robots feedback in described plan target completes information, task terminates.
After ending task, described housework house keeper robot evaluation tasks performance, and logger task assessment result; Described housework house keeper robot, according to described task assessment result, is optimized implementation strategy.Such as, there is the sweeping robot of 2 kinds of models in certain housework house keeper robot, an applicable big room, an applicable cubicle, initial period, house keeper does not understand the feature of these 2 kinds of robots, so be random when allocating task, but through long record working effect, can find one fast and effective in the speed that completes in parlor, another storeroom speed fast and complete effective, so just can the workplace of preferred this Liang Zhong robot.This relates to large data screening, it is a larger category, in the present invention, be exactly briefly the working effect and the feature that accumulate each robot, these knowledge may can not embody in the functional description file of robot self, need the result of use that record is actual, these knowledge comprehensive provide more rationally by house keeper, more efficient deployment strategy and suggestion.
In the embodiment of the present invention, housework house keeper robot can add, delete the housework robot of its management.Add the operating process of housework robot as shown in Figure 3, first described housework house keeper robot obtains from housework robot to be added and resolves the functional description file of described housework robot; Then add respectively according to the support situation of described housework house keeper robot to the function of described housework robot.When described housework house keeper robot supports all functions of described housework robot, described housework robot information is saved in the robot list of self by described housework house keeper robot, and sends the successful message of interpolation to described housework robot.When described housework house keeper robot supports the partial function of described housework robot, the separating function that described housework house keeper robot will not support, and be stored into standby resources pond, can support after phase subsequent upgrade, then described housework robot information is saved in robot list, and sends the successful message of interpolation to described housework robot.When described housework house keeper robot does not support the function of described housework robot, described housework house keeper robot sends to described housework robot and adds failure message, cancels and adds operation; Or described housework robot information is saved in standby resources pond, and sends the successful message of interpolation to described housework robot.The operation of described deletion housework robot is fairly simple, and housework robot information to be deleted is deleted by described housework house keeper robot from robot list.It should be noted that adding or delete robot information all can perform pool to housework housekeeper device people for plan target by Real Time Effect.
The method of the embodiment of the present invention also comprises the management of upper strata housework house keeper robot to the housework house keeper robot that rolls off the production line.For larger scene, large-scale place such as such as hotel etc., multiple house keeper may be had manage a panel region, such as each floor is equipped with a house keeper to manage the robot of this one deck, need the house keeper on a upper strata this time to plan as a whole other house keeper's collaborative works, personage's organizational structure of this organizational structure and our company is at ordinary times similar, and the described management to the housework house keeper robot that rolls off the production line comprises:
(1) dispensing of the housework robot that the housework house keeper robot that respectively rolls off the production line manages is optimized.Such as certain house keeper x that rolls off the production line has two sweeping robots, but his local needs sweeping robot, the task and the house keeper y that rolls off the production line sweeps the floor, but lack a sweeping robot, this time, upper strata house keeper robot will intervene robot dispensing, directly the sweeping robot of house keeper x redundancy was distributed to house keeper y.
(2) gather the knowledge of all housework house keeper robots that rolls off the production line, and give all housework house keeper robots that rolls off the production line by the knowledge sharing gathered." knowledge " of all house keepers of rolling off the production line can be aggregated in the memory module of oneself by upper strata house keeper, then shares to all house keepers of rolling off the production line, and realizes inner knowledge sharing.
(3) the housework robotic team that the housework house keeper robot that respectively rolls off the production line manages is assessed, and distribute the task of different priorities to each housework robotic team according to assessment result.Namely preferentially vital task can be completed, upper strata house keeper can long term accumulation roll off the production line robotic team that house keeper manages complete effect, each team is marked, for user (such as hotel manager) when honored guest met by certain floor, the priority of task can be set, mark in the house keeper of rolling off the production line that oneself can administer by upper strata house keeper and the highest call this floor to complete vital task temporarily.
Have the situation of upper strata house keeper to be conducive to the continuous expansion of system, when there being upper strata house keeper, it is obviously simple for adding new house keeper, and multiple system is easy to merge, and upper strata house keeper also can have the house keeper of more top simultaneously.And between the housework house keeper robot not having a subordinate relation, also can knowledge sharing be carried out.Two house keepers (house keepers in the different hotels of such as same association) for " non-dependent " relation only shared knowledge can improve work efficiency each other, but can not form relationship between superior and subordinate.
And for the large data screening of upper strata housework house keeper robot, be mainly reflected in described upper strata housework house keeper robot according to shared knowledge, implementation strategy is optimized.Such as, upper strata housework house keeper robot is after sharing knowledge with other housework house keeper robot, the sweeping robot of house keeper A of finding to roll off the production line is applicable to wet environment, but the region of A administration is hall, and turn on the aircondition for a long time, therefore environment is very dry, and the sweeping robot of the house keeper B that rolls off the production line is applicable to dry environment, but the region of B administration is toilet, very moist, so these two sweeping robots can be exchanged by upper strata housework house keeper robot.
Embodiment 2
The structure of a kind of housework house keeper robot of this enforcement as shown in Figure 4, described housework house keeper robot comprises housework knowledge storing unit, scene information storage unit, task location, robot information memory cell, implementation strategy generation unit and robot control unit, wherein implementation strategy generation unit is connected with described housework knowledge storing unit, scene information storage unit, task location and robot information memory cell respectively, and robot control unit is connected with described implementation strategy generation unit and robot information memory cell respectively.Below each unit is described in detail:
1. housework knowledge storing unit
Housework knowledge storing unit is for storing housework knowledge description file.In the present embodiment, first housework house keeper robot will know for which housework, the information of housework carries out record by housework knowledge description file, this file can be preset in the storer of house keeper before dispatching from the factory, can constantly upgrade in the process used, use xml file layout is described housework knowledge by the present embodiment, as follows:
Here we define 2 housework, and title is sweep the floor and wipe window respectively, and housework knowledge number is respectively j0001 and j0002, and wherein housework title can be diversified, but must unify housework numbering in the entire system.
2. scene information storage unit
Scene information storage unit is for storing the scene description document of administered scene.After knowing and having which housework, house keeper also needs to know which type of the scene that he administers is, this is one 2 dimension or 3 dimension maps substantially, ratio is if any 1 parlor, 2 bedrooms ... in other words house keeper must know the information such as orientation, size in room, in practical application, for the information in orientation, we depend on some location technologies, such as GPS or RFID location, concrete locator meams is not in the scope of discussion of the present invention, just say the cardinal principle form of scene description document, simple 2 dimensions are described below:
Wherein sharp defines one group of coordinate points, the figure that these coordinate points couple together is exactly position shape and the size in this parlor, here just a very simple 2D describes, for the scene (compare if any stair, have swimming pool etc.) of more complicated, we can use and be similar to VRML (VirtualRealityModelingLanguage, Virtual Reality Modeling Language) form is described, complicated, the position etc. of the size of the material on ground, window, furniture even also can all be put in description document by we, and this file can be very complicated.
4. task location
Task location is used for store tasks description document, comprises the plan target that user disposes in described task description file.In the present embodiment, we need to assign work program to house keeper, and such as 10 start to wipe ground, and 11 start to wipe window etc., these tasks of planned execution, and the form of task description file is as follows:
Here we have used an everyDay label, be used for the task of every day is described, also have some being of little use of tasks, such as everyWeek weekly, monthly everyMonth etc. can increase corresponding description document and carry out record, wherein in the 2nd group task, job label has two housework j0001 and j0002, this just represents, after j0001 completes, carry out j0002 work, in fact for the task description of some complexity, this description document can also expand by we, this description document is edited by user, edited by input interface, such as touch screen operates the configuration interface of house keeper.
5. robot information memory cell
Robot information memory cell is for storing the functional description file of managed housework robot, and described functional description file comprises the corresponding relation of housework robot and housework and the control information of housework robot.Described robot information memory cell comprises robot list and standby resources pond, described robot information memory cell stores the function of housework robot, the function that the list of described robot is supported for storing described housework house keeper robot, the function that described standby resources pond is not supported for storing described housework house keeper robot.House keeper robot is need to learn to housework robot function and the cognition of corresponding housework logic, namely certain class robot can what work corresponding need to inform house keeper, this just needs a description document to carry out the corresponding relation of recorder people and housework, house keeper needs to know which kind of mode means of use are to control these robots simultaneously, so also need one to control description document, the present invention will control the part of content as functional description file for description document.
6. implementation strategy generation unit
Implementation strategy generation unit is used for, according to the corresponding relation of housework knowledge, scene information, plan target and housework robot and housework, generating the implementation strategy corresponding with described plan target.
7. robot control unit
Robot control unit is used for the control information according to described implementation strategy and housework robot, controls corresponding housework robot and executes the task.
From hardware, housework house keeper robot mainly comprises: the hardware module of profile and mechanical component, power plant module, communication module, computing module, memory module, operation interface module and other necessity.When housework house keeper robot and housework robot carry out mutual, data transmission technologies all at present can be used from hardware, the such as technology of the 2.4G such as WIFI or bluetooth, or RFID etc., need a set of general agreement to carry out alternately from software.
The ability of housework house keeper robot management other robot of the present invention, the relatively strong chip of computing power is possessed at hardware aspect, the system of system-level scale is possessed in software, optimizational function, performance can be come by continuous upgrade software, support to more new engine people is provided simultaneously, although people's cost religion of housework house keeper robot is high, on the whole, average unit cost will reduce greatly.
Housework house keeper robot of the present invention has following characteristics:
1, system transmits " knowledge " information on basis by various description document;
2, housework house keeper robot and housework robot are by carrying out adaptation according to a set of agreement, thus set up subordinate relation;
3, hierarchical relationship can be had between housework house keeper robot;
4, upper strata housework house keeper robot can optimize the housework robot dispensing of the housework house keeper robot that rolls off the production line, housework house keeper robots (the housework house keeper robot also shareable data without subordinate relation) all in tissue can be given by the data sharing of the housework house keeper robot that rolls off the production line, can arrange preferentially to complete vital task;
5, optimize the strategy of executing the task by large data, increase work efficiency and difficulty action accomplishment.
The plan target that housework house keeper robot of the present invention can dispose according to user, controls the collaborative work of multiple housework robot, and common this plan target of execution, improves work efficiency, ensure that the order of executing the task.
Although be example object, disclose the preferred embodiments of the present invention, it is also possible for those skilled in the art will recognize various improvement, increase and replacement, and therefore, scope of the present invention should be not limited to above-described embodiment.
Claims (12)
1. a task processing method for housework house keeper robot, is characterized in that, said method comprising the steps of:
A, housework house keeper robot obtain the plan target that user disposes;
B, described housework house keeper machine life become the implementation strategy corresponding with described plan target;
C, task trigger after, described housework house keeper robot controls corresponding housework robot according to described implementation strategy and executes the task.
2. the task processing method of housework house keeper robot as claimed in claim 1, is characterized in that, after described steps A, also comprise: described housework house keeper robot assesses the plan target obtained, and the implementation effect of expection is fed back to user.
3. the task processing method of housework house keeper robot as claimed in claim 2, it is characterized in that, before described step B, also comprise: after arriving the time preset or the confirmation obtaining user, described housework house keeper robot makes described plan target come into force.
4. the task processing method of housework house keeper robot as claimed in claim 1, it is characterized in that, described step B specifically comprises: described housework house keeper robot, according to the corresponding relation of housework knowledge, scene information, plan target and housework robot and housework, generates the implementation strategy corresponding with described plan target.
5. the task processing method of housework house keeper robot as claimed in claim 1, it is characterized in that, described step C specifically comprises:
Task trigger module triggers described plan target;
The implementation strategy that the inquiry of described housework house keeper robot is corresponding with described plan target;
According to described implementation strategy, described housework house keeper robot sends control command to corresponding housework robot, and receives the execution state information of described housework robot feedback;
After the task of receiving all housework robots feedback in described plan target completes information, task terminates.
6. the task processing method of housework house keeper robot as claimed in claim 1, is characterized in that, after described step C, also comprise: described housework house keeper robot evaluation tasks performance, and logger task assessment result; Described housework house keeper robot, according to described task assessment result, is optimized implementation strategy.
7. the task processing method of housework house keeper robot as claimed in claim 1, is characterized in that, described method also comprises interpolation, deletes the operation of housework robot;
The operation of described interpolation housework robot comprises:
Described housework house keeper robot obtains from housework robot to be added and resolves the functional description file of described housework robot;
When described housework house keeper robot supports all functions of described housework robot, described housework robot information is saved in robot list by described housework house keeper robot, and sends the successful message of interpolation to described housework robot;
When described housework house keeper robot supports the partial function of described housework robot, the separating function that described housework house keeper robot will not support, and be stored into standby resources pond, then described housework robot information is saved in robot list, and sends the successful message of interpolation to described housework robot;
When described housework house keeper robot does not support the function of described housework robot, described housework house keeper robot sends to described housework robot and adds failure message, or described housework robot information is saved in standby resources pond, and sends the successful message of interpolation to described housework robot;
The operation of described deletion housework robot comprises: housework robot information to be deleted is deleted by described housework house keeper robot from robot list.
8. the task processing method of the housework house keeper robot as described in any one of claim 1 to 7, is characterized in that, described method also comprises the management of upper strata housework house keeper robot to the housework house keeper robot that rolls off the production line;
The described management to the housework house keeper robot that rolls off the production line comprises:
Optimize the dispensing of the housework robot that the housework house keeper robot that respectively rolls off the production line manages; And/or
Gather the knowledge of all housework house keeper robots that rolls off the production line, and give all housework house keeper robots that rolls off the production line by the knowledge sharing gathered; And/or
The housework robotic team that the housework house keeper robot that respectively rolls off the production line manages is assessed, and distributes the task of different priorities to each housework robotic team according to assessment result.
9. the task processing method of housework house keeper robot as claimed in claim 8, it is characterized in that, described method also comprises: carry out knowledge sharing to not having between the housework house keeper robot of subordinate relation.
10. the task processing method of housework house keeper robot as claimed in claim 9, it is characterized in that, described housework house keeper robot, according to shared knowledge, is optimized implementation strategy.
11. 1 kinds of housework house keeper robots, is characterized in that, described housework house keeper robot comprises:
Housework knowledge storing unit, for storing housework knowledge description file;
Scene information storage unit, for storing the scene description document of administered scene;
Task location, for store tasks description document, comprises the plan target that user disposes in described task description file;
Robot information memory cell, for storing the functional description file of managed housework robot, described functional description file comprises the corresponding relation of housework robot and housework and the control information of housework robot;
Implementation strategy generation unit, be connected with described housework knowledge storing unit, scene information storage unit, task location and robot information memory cell respectively, for the corresponding relation according to housework knowledge, scene information, plan target and housework robot and housework, generate the implementation strategy corresponding with described plan target;
Robot control unit, is connected with described implementation strategy generation unit and robot information memory cell respectively, for the control information according to described implementation strategy and housework robot, controls corresponding housework robot and executes the task.
12. housework house keeper robots as claimed in claim 11, it is characterized in that, described robot information memory cell comprises robot list and standby resources pond, described robot information memory cell stores the function of housework robot, the function that the list of described robot is supported for storing described housework house keeper robot, the function that described standby resources pond is not supported for storing described housework house keeper robot.
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