CN105892994A - Method and device for handling with task planning and execution exception of mobile robot - Google Patents

Method and device for handling with task planning and execution exception of mobile robot Download PDF

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Publication number
CN105892994A
CN105892994A CN201610207714.9A CN201610207714A CN105892994A CN 105892994 A CN105892994 A CN 105892994A CN 201610207714 A CN201610207714 A CN 201610207714A CN 105892994 A CN105892994 A CN 105892994A
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behavior
abnormal conditions
planning
execution
unit
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CN201610207714.9A
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CN105892994B (en
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房芳
马陈强
钱堃
马旭东
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Southeast University
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Southeast University
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    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00Arrangements for program control, e.g. control units
    • G06F9/06Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/30Arrangements for executing machine instructions, e.g. instruction decode
    • G06F9/30003Arrangements for executing specific machine instructions

Abstract

The invention provides a method and a device for handling with task planning and execution exception of a mobile robot, and relates to mobile robot operation under a distributed intelligent environment, so as to cope with abnormal conditions occurring to robot system operation. The method provided by the invention mainly comprises the following steps of: step 1, detecting and coping with task planning failure; step 2, detecting and coping with behavior distribution failure; and step 3, detecting and coping with behavior execution failure. According to the method for handling with task planning and execution exception of the mobile robot, the characteristics of the intelligent environment are comprehensively considered, task planning and execution exception is coped from the aspects of scientific research and market requirements, so that the method provided by the invention is capable of effectively improving the robustness and vigorousness of the system.

Description

The mission planning of a kind of mobile robot and execution abnormal conditions processing method and processing device
Technical field
The present invention relates to the mission planning of mobile robot and execution field, be specifically related to a kind of mobile robot task Planning and execution abnormal conditions processing method and processing device.
Background technology
Mission planning refers to a series of behavior acts have effectively been organized specific objective.Mission planning exists Indicate the level of intelligence of robot to a certain extent.Want to make robot really enter into productive life, it is achieved Getting along amiably and peacefully with people, it is provided that intelligent service, robot must possess the ability of autonomous mission planning.
Planning is the major criterion that system designs with robustness and the robustness of the system of execution, is also system energy simultaneously The properly functioning important leverage with work.Yet with dynamic and the complexity of mobile work robot environment, Mobile robot planning is operationally likely to result in planning failure with execution system, behavior distributes and unsuccessfully holds with behavior Go the abnormal conditions such as unsuccessfully.If not taking to effectively cope with measure, system will be unable to recover from exception, and There is serious potential safety hazard.
Summary of the invention
Goal of the invention: in view of this, the present invention provides the mission planning of a kind of mobile robot and performs abnormal conditions Processing method and processing device, by feedback and monitoring abnormal conditions, utilizes scattered intelligent node or people in environment Machine cooperates, and makes system recover from exception, thus completes the planning of task, behavior distribution and behavior execution.
Technical scheme: for achieving the above object, the technical solution used in the present invention is as follows:
The mission planning of a kind of mobile robot and execution abnormal conditions processing method, the method includes:
(1) move robot the most successful according to planning situation condition adjudgement mission planning, if failure, carry out Mission planning abnormal conditions are tackled;
(2) after moving robot acquisition program results, before each behavior distributes, it is judged that real under current environment Executing whether condition meets, if being unsatisfactory for, carrying out behavior distribution abnormal conditions reply;
(3) move robot after the behavior receiving distribution, in execution program, sentence according to execution state Line-break is the most successful for performing, if running succeeded, the next behavior of execution is to ending task, if performing unsuccessfully, Carry out behavior and perform abnormal conditions reply.
As preferably, in described step (1), the method for mission planning abnormal conditions reply includes:
(1.1) intelligent node in environment issues order, exports warning message to user simultaneously, passes through ring Scattered sensing node and man-machine collaboration in border, obtain up-to-date information more new knowledge base;
(1.2) carry out task weight-normality to draw, if planning successfully, entering step (2), otherwise repeating to appoint Business planning abnormal conditions reply.
As preferably, in described step (2), the method for behavior distribution abnormal conditions reply includes:
(2.1) current execution state S is preserved;
(2.2) intelligent node in environment issues order, exports warning message to user simultaneously, passes through ring Scattered sensing node and man-machine collaboration in border, obtain up-to-date information more new knowledge base;
(2.3) on the basis of state S of execution, carry out task weight-normality to draw, if planning failure, carry out task rule Draw abnormal conditions reply, successful then enter step (2.4);
(2.4) result to new planning re-starts behavior distribution, as being allocated successfully entrance step (3), no Then repeat behavior distribution abnormal conditions reply.
As preferably, in described step (3), the method for behavior execution abnormal conditions reply includes:
(3.1) judge that current behavior anomalous counts device, whether less than setting value, if being less than, carries out retrying behavior Perform and abnormal judgement, otherwise preserve current execution state S;
(3.2) exporting warning message to user, by man-machine collaboration, the software and hardware in removal system is abnormal;
(3.3) on the basis of state S of execution, carry out task weight-normality to draw, if planning failure, carry out task rule Draw abnormal conditions reply, successful then enter step (3.4);
(3.4) result to new planning re-starts behavior distribution and performs, if run succeeded, waits waiting Receive next behavior command or task terminates, otherwise repeat behavior and perform abnormal conditions reply.
A kind of device realizing above-mentioned mobile robot mission planning and perform abnormal conditions processing method, bag Include: weight-normality draws administrative unit, condition inspection unit, feedback processing unit and retry-alarm unit;
Described weight-normality draws administrative unit, and for receiving the failed feedback states of mission planning, behavior distributes unsuccessfully State and behavior perform the most failed state, and in environment, other intelligent body asks for help, by other intelligence The information Perception of body or man-machine collaboration update required information, and notify that mission planning unit carries out task weight New planning;
Described condition inspection unit, is carried out with current information for condition behavior implemented at behavior allocated phase Coupling, it is judged that whether current information meets implementation condition, if being unsatisfactory for, is drawn to weight-normality by feedback processing unit Administrative unit sends the information that behavior distribution is failed;
Described feedback processing unit, performs the feedback states of result for reception behavior features, when performing unsuccessfully, logical Know and retry-alarm unit;
Described retry-alarm unit, for number of retries being counted to when performing unsuccessfully, set exceeding Draw administrative unit to weight-normality after definite value and send the warning message that behavior execution is the most failed.
Beneficial effect: the present invention moves robot mission planning and performs abnormal conditions processing method, considers The feature of intelligent environment, carries out mission planning from scientific research and the market demand and performs at abnormal conditions Reason, the inventive method of proposition can be effectively improved robustness and the robustness of system.
Accompanying drawing explanation
Fig. 1 is that the present invention moves robot mission planning and performs the flow chart of abnormal conditions processing method.
Fig. 2 is that the present invention moves robot mission planning and execution abnormal conditions implement block diagram.
Detailed description of the invention
With specific embodiment, the present invention is further elaborated below in conjunction with the accompanying drawings.
The invention provides the mission planning of a kind of mobile robot and perform abnormal conditions processing method, such as Fig. 1, The concrete processing procedure of system is shown in Fig. 2.As it is shown in figure 1, system operation can be divided into mission planning, behavior Distribution and behavior perform three main processes.Wherein the planning problem of modeling is mainly carried out by mission planning unit Solving, then behavior allocation unit carries out the distribution of sequence to program results, and behavior performance element is concrete reality Existing person.In corresponding three main process, it is respectively present the situation that may cause system operation exception, is respectively Mistake is performed the term of execution of the planning failure in mission planning period, the distribution failure in behavior distribution period and behavior Lose, the robustness of these abnormal conditions serious harms system and stability, it is therefore desirable to for these three situation Carry out reply process, as it is shown in figure 1, respectively introduce mission planning failure handling, behavior distribution failure handling and Behavior performs failure handling flow process, implements as shown in Figure 2.
A kind of mobile robot mission planning disclosed in the embodiment of the present invention and execution abnormal conditions processing method, bag Include:
(1) move robot the most successful according to planning situation condition adjudgement mission planning, if failure, carry out Mission planning abnormal conditions are tackled.This step abnormality processing includes:
(1.1) intelligent node in environment issues order, exports warning message to user simultaneously, passes through ring Scattered sensing node and man-machine collaboration in border, obtain up-to-date information more new knowledge base;
(1.2) carry out task weight-normality to draw, if planning successfully, entering step (2), otherwise repeating to appoint Business planning abnormal conditions reply.
(2) after moving robot acquisition program results, before each behavior distributes, it is judged that real under current environment Executing whether condition meets, if being unsatisfactory for, carrying out behavior distribution abnormal conditions reply.This step abnormality processing includes:
(2.1) current execution state S is preserved;
(2.2) intelligent node in environment issues order, exports warning message to user simultaneously, passes through ring Scattered sensing node and man-machine collaboration in border, obtain up-to-date information more new knowledge base;
(2.3) on the basis of state S of execution, carry out task weight-normality to draw, if planning failure, carry out task rule Draw abnormal conditions reply, successful then enter step (2.4);
(2.4) result to new planning re-starts behavior distribution, as being allocated successfully entrance step (3), no Then repeat behavior distribution abnormal conditions reply.
(3) move robot after the behavior receiving distribution, in execution program, sentence according to execution state Line-break is the most successful for performing, if running succeeded, the next behavior of execution is to ending task, if performing unsuccessfully, Carry out behavior and perform abnormal conditions reply.This step abnormality processing includes:
(3.1) judge that current behavior anomalous counts device, whether less than setting value, if being less than, carries out retrying behavior Perform and abnormal judgement, otherwise preserve current execution state S;
(3.2) exporting warning message to user, by man-machine collaboration, the software and hardware in removal system is abnormal;
(3.3) on the basis of state S of execution, carry out task weight-normality to draw, if planning failure, carry out task rule Draw abnormal conditions reply, successful then enter step (3.4);
(3.4) result to new planning re-starts behavior distribution and performs, if run succeeded, waits waiting Receive next behavior command or task terminates, otherwise repeat behavior and perform abnormal conditions reply.
The present invention is directed to mission planning failure, behavior distributes and unsuccessfully performs unsuccessfully three kinds of situations with behavior and introduce " heavily planning management ", " condition detection ", " feedback processing " and " retry-report to the police " unit are to tackle these feelings Condition.Wherein " heavily planning management " unit is mainly used in receiving the failed feedback states of mission planning, behavior distribution Failed state and behavior perform the most failed state, and in environment, other intelligent body asks for help, by it The information Perception of its intelligent body or man-machine collaboration update required information, and notify that mission planning unit is carried out Task is planned again;" condition inspection " unit be mainly used in the condition behavior implemented at behavior allocated phase with Current information mates, it is judged that whether current information meets implementation condition, if being unsatisfactory for, passes through feedback processing Unit is drawn administrative unit to weight-normality and is sent the information that behavior distribution is failed;" feedback processing " unit is mainly used in connecing Receipts behavior performs the feedback states of result, when performing unsuccessfully, notifies " retry-report to the police " unit;" retry- Report to the police " unit, decayed tooth for number of retries being counted to when performing unsuccessfully, after exceeding setting value to Weight-normality is drawn administrative unit and is sent the warning message that behavior execution is the most failed.
The concrete abnormal behaviour processing method of the embodiment of the present invention be discussed in detail below in conjunction with Fig. 2:
When system carries out the mission planning stage, if planning failure, notify " heavily planning management " unit, planning Unit initially enters wait state, waits the feedback result of " heavily planning management " unit;
" heavily planning management " unit receives the feedback states of planning failure;
" heavily planning management " unit other intelligent body in environment asks for help, by the information of other intelligent body Perception or man-machine collaboration update required information;
" heavily planning management ", after more fresh information, notifies mission planning unit, and mission planning unit is carried out Again plan, until planning successfully.
When system enters behavior allocated phase, initially entering " condition inspection ", " condition inspection " unit is to this row Precondition for implementing is mated with current information, if it find that current information cannot meet the behavior Implementation condition, then behavior distributes unsuccessfully, " condition inspection " unit will to send feedback information.
Preserving current execution state S, start planning unit, juxtaposition planning unit is wait state;
" heavily planning management " unit, after receiving the state that behavior distribution is failed, is sought to other intelligent body Help;
" heavily planning management ", after more fresh information, notifies mission planning unit, and mission planning unit is at mesh Quadratic programming is carried out, until mission planning is allocated successfully with behavior on the basis of front state.
Performing the stage when system enters behavior, execution result is fed back to feedback processing unit by performance element, if The failure of execution result, then enter " retry-report to the police " unit
Definition: Limited_count is the number of times that the behavior, multipotency retried.
If the number of times that current behavior retries is less than Limited_count, then performance element is attempted re-executing this Behavior;
If the number of times that current behavior retries is not less than Limited_count, then notice " heavily planning management " is single Unit;Preserving current execution state S, start planning unit, juxtaposition planning unit is wait state;
" heavily planning management " unit receives the feedback of " retry-report to the police " unit;
" heavily planning management " unit exports warning message to user, notifies user's soft or hard to corresponding performance element Part, network service software and hardware etc. are upgraded;
" heavily planning management " unit, after receiving and upgrading successfully, notifies mission planning unit, mission planning list Unit carries out quadratic programming on the basis of current state, until completing all tasks.
Table 1 is the mission planning of mobile robot and execution abnormal conditions processing method disclosed in the embodiment of the present invention False code.
Table 1
Symbol description:
Plan: Execution plan operates
Repan_Monitor: weight-normality draws monitoring
Post_Process: mission planning output processes
Check_Precondition: implement precondition detection
Dispatch: behavior distributes
Variable declaration:
Plan_Failed: planning failure state
Information_Updated: information updating state
Plan []: program results
Received_Action_Feedback: behavior performs feedback reception state
Action_Num: behavior sequence total number
Action_Feedback: behavior performs feedback states
Retry_count: behavior retries execution number of times
Limited_count: behavior retries restriction number of times
The sequence numbering of id: current behavior
Preconditions_State: implement precondition testing result
Check_Failed: implement precondition detection status of fail
Above-described specific implementation method, has been carried out technical scheme and beneficial effect the most in detail Describe in detail bright, be it should be understood that the above is the specific embodiment of the invention, all spirit in the present invention and Within principle, any amendment, equivalent and the improvement etc. made, should be included in protection scope of the present invention Within.

Claims (5)

1. mobile robot mission planning and execution abnormal conditions processing method, it is characterised in that the method includes:
(1) move robot the most successful according to planning situation condition adjudgement mission planning, if failure, carry out mission planning abnormal conditions reply;
(2) after moving robot acquisition program results, before each behavior distributes, it is judged that under current environment, whether implementation condition meets, if being unsatisfactory for, behavior distribution abnormal conditions reply is carried out;
(3) move robot after the behavior receiving distribution, in execution program, perform whether success according to performing condition adjudgement behavior, if running succeeded, performing next behavior to ending task, if performing unsuccessfully, carrying out behavior execution abnormal conditions and tackling.
Abnormal conditions processing method the most according to claim 1, it is characterised in that in described step (1), the method for mission planning abnormal conditions reply includes:
(1.1) intelligent node in environment issues order, exports warning message to user simultaneously, by sensing node scattered in environment and man-machine collaboration, obtains up-to-date information more new knowledge base;
(1.2) carrying out task weight-normality to draw, if planning successfully, entering step (2), otherwise repeat the reply of mission planning abnormal conditions.
Abnormal conditions processing method the most according to claim 1, it is characterised in that in described step (2), the method for behavior distribution abnormal conditions reply includes:
(2.1) current execution state S is preserved;
(2.2) intelligent node in environment issues order, exports warning message to user simultaneously, by sensing node scattered in environment and man-machine collaboration, obtains up-to-date information more new knowledge base;
(2.3) draw performing to carry out task weight-normality on the basis of state S, if planning failure, carry out mission planning abnormal conditions reply, successful then enter step (2.4);
(2.4) result to new planning re-starts behavior distribution, as being allocated successfully entrance step (3), otherwise repeats behavior distribution abnormal conditions reply.
Abnormal conditions processing method the most according to claim 1, it is characterised in that in described step (3), the method for behavior execution abnormal conditions reply includes:
(3.1) judge that current behavior anomalous counts device, whether less than setting value, if being less than, carrying out the behavior that retries and performs and extremely judge, otherwise preservation current execution state S;
(3.2) exporting warning message to user, by man-machine collaboration, the software and hardware in removal system is abnormal;
(3.3) draw performing to carry out task weight-normality on the basis of state S, if planning failure, carry out mission planning abnormal conditions reply, successful then enter step (3.4);
(3.4) result to new planning re-starts behavior distribution and performs, if running succeeded, waiting next behavior command to be received or task to terminate, otherwise repeating behavior and perform abnormal conditions reply.
5. one kind realizes mobile robot mission planning as described in any one of claim 1-4 and the device performing abnormal conditions processing method, it is characterised in that including: weight-normality draws administrative unit, condition inspection unit, feedback processing unit and retry-alarm unit;
Described weight-normality draws administrative unit, for receiving the failed feedback states of mission planning, behavior distributes failed state and behavior performs the most failed state, in environment, other intelligent body asks for help, information Perception or man-machine collaboration by other intelligent body update required information, and notify that mission planning unit carries out task and again plans;
Described condition inspection unit, for the condition that behavior is implemented being mated with current information at behavior allocated phase, judge whether current information meets implementation condition, if being unsatisfactory for, drawing administrative unit by feedback processing unit to weight-normality and sending the information that behavior distribution is failed;
Described feedback processing unit, performs the feedback states of result for reception behavior features, and when performing unsuccessfully, notice retries-alarm unit;
Described retry-alarm unit, for number of retries being counted to when performing unsuccessfully, after exceeding setting value, draw administrative unit to weight-normality send the warning message that behavior execution is the most failed.
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CN106453551A (en) * 2016-10-09 2017-02-22 东南大学 Task planning and executing device and method for goods delivery robot in office
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WO2021129346A1 (en) * 2019-12-26 2021-07-01 炬星科技(深圳)有限公司 Method and device for robot to autonomously manage execution capability, and storage medium

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