CN105892994B - A kind of mobile robot mission planning is with performing abnormal conditions processing method and processing device - Google Patents

A kind of mobile robot mission planning is with performing abnormal conditions processing method and processing device Download PDF

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Publication number
CN105892994B
CN105892994B CN201610207714.9A CN201610207714A CN105892994B CN 105892994 B CN105892994 B CN 105892994B CN 201610207714 A CN201610207714 A CN 201610207714A CN 105892994 B CN105892994 B CN 105892994B
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behavior
abnormal conditions
mission planning
planning
failure
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CN105892994A (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 present invention provides a kind of mission planning and the method and device for performing abnormal conditions processing, the mobile robot operation being related under distributed intelligence environment, tackles the abnormal conditions run into robot system operation.The method of the present invention mainly includes:Step 1, the detection and reply of mission planning failure;Step 2, the detection and reply of behavior distribution failure;Step 3, behavior performs the detection and reply of failure.Mobile robot mission planning of the present invention is with performing abnormal conditions processing method, the characteristics of having considered intelligent environment, the robustness and robustness of system can be effectively improved with performing abnormal conditions processing, the inventive method of proposition by carrying out mission planning from scientific research and the market demand.

Description

A kind of mobile robot mission planning is with performing abnormal conditions processing method and processing device
Technical field
The present invention relates to mobile robot mission planning with performing field, and in particular to a kind of mobile robot mission planning With performing abnormal conditions processing method and processing device.
Background technology
Mission planning refers to a series of behavior acts are carried out effectively to organize to complete specific objective.Mission planning is certain The level of intelligence of robot is indicated in degree.To make robot really enter into production and living, realization is got along amiably and peacefully with people, is carried For intelligent service, robot must possess the ability of autonomous mission planning.
Planning and the robustness of execution system are the major criterion of system design with robustness, while are also that system can be normal The important leverage of operation and work.Yet with the dynamic and complexity of mobile work robot environment, mobile robot rule Drawing may operationally cause planning failure, behavior distribution failure to perform the abnormal conditions such as unsuccessfully with behavior with execution system.Such as Fruit does not take the measure of effectively coping with, and system will be unable to recover from exception, and there are serious security risk.
The content of the invention
Goal of the invention:In view of this, the present invention provides a kind of mobile robot mission planning with performing abnormal conditions processing Method and device, by feedback and monitoring abnormal conditions, using the intelligent node or man-machine collaboration disperseed in environment, makes system Recover from exception, performed so as to complete the planning of task, behavior distribution and behavior.
Technical solution:For achieving the above object, the technical solution adopted by the present invention is as follows:
A kind of mobile robot mission planning includes with performing abnormal conditions processing method, this method:
(1) whether mobile robot succeeds according to planning situation condition adjudgement mission planning, and task rule are carried out if failure Draw abnormal conditions reply;
(2) after mobile robot obtains program results, before each behavior distribution, judge that implementation condition is under current environment No satisfaction, carries out behavior distribution abnormal conditions reply if being unsatisfactory for;
(3) mobile robot is after the behavior of distribution is received, and in executive program, is held according to condition adjudgement behavior is performed Whether row succeeds, and next behavior is performed if running succeeded to ending task, exception is performed if performing failure and carrying out behavior Situation is tackled.
Preferably, the method that mission planning abnormal conditions are tackled in the step (1) includes:
(1.1) the intelligent node issue order into environment, while warning message is exported to user, by disperseing in environment Sensing node and man-machine collaboration, obtain up-to-date information and more new knowledge base;
(1.2) carry out task weight-normality to draw, if planned successfully, enter step (2), otherwise repeat mission planning exception Situation is tackled.
Preferably, the method for behavior distribution abnormal conditions reply includes in the step (2):
(2.1) current execution state S is preserved;
(2.2) the intelligent node issue order into environment, while warning message is exported to user, by disperseing in environment Sensing node and man-machine collaboration, obtain up-to-date information and more new knowledge base;
(2.3) task weight-normality is carried out on the basis of state S is performed to draw, if planning failure, carry out mission planning exception feelings Condition is tackled, successful then enter step (2.4);
(2.4) result newly planned is re-started behavior distribution, be such as allocated successfully and enter step (3), otherwise repeat into Every trade is distribution abnormal conditions reply.
Preferably, the method for behavior execution abnormal conditions reply includes in the step (3):
(3.1) judge whether current behavior anomalous counts device is less than setting value, if less than if retry behavior perform and It is abnormal to judge, otherwise preserve current execution state S;
(3.2) warning message is exported to user, by man-machine collaboration, the software and hardware in removal system is abnormal;
(3.3) task weight-normality is carried out on the basis of state S is performed to draw, if planning failure, carry out mission planning exception feelings Condition is tackled, successful then enter step (3.4);
(3.4) behavior distribution is re-started to the result newly planned and is performed, if run succeeded, is waited to be received next Behavior command or task terminate, and otherwise repeat behavior and perform abnormal conditions reply.
A kind of device realized above-mentioned mobile robot mission planning and perform abnormal conditions processing method, including:Weight Planning management unit, condition inspection unit and retry-alarm unit at feedback processing unit;
The weight-normality draws administrative unit, for the state for receiving the feedback states of mission planning failure, behavior distribution fails The state repeatedly to fail is performed with behavior, other intelligent bodies ask for help into environment, pass through the information Perception of other intelligent bodies Or man-machine collaboration updates required information, and mission planning unit is notified to carry out task and plan again;
The condition inspection unit, for condition and the current information progress for implementing behavior in behavior allocated phase Match somebody with somebody, judge whether current information meets implementation condition, administrative unit is drawn to weight-normality by feedback processing unit if being unsatisfactory for and is sent out Go on a journey as the information of distribution failure;
The feedback processing unit, for the feedback states of reception behavior features implementing result, when performing failure, notice weight Examination-alarm unit;
It is described to retry-alarm unit, for perform failure when number of retries is counted, after more than setting value Administrative unit, which is drawn, to weight-normality sends the warning message of behavior execution repeatedly unsuccessfully.
Beneficial effect:Mobile robot mission planning of the present invention has considered intelligence with performing abnormal conditions processing method The characteristics of energy environment, carry out mission planning from scientific research and the market demand and handled with performing abnormal conditions, the hair of proposition Bright method can effectively improve the robustness and robustness of system.
Brief description of the drawings
Fig. 1 is flow chart of the mobile robot mission planning of the present invention with performing abnormal conditions processing method.
Fig. 2 implements block diagram for mobile robot mission planning of the present invention with performing abnormal conditions.
Embodiment
The present invention is further elaborated with specific embodiment below in conjunction with the accompanying drawings.
The present invention provides a kind of mobile robot mission planning with performing abnormal conditions processing method, such as Fig. 1, system tool Body processing procedure is shown in Fig. 2.As shown in Figure 1, system operation, which can be divided into mission planning, behavior distribution and behavior, performs three Main process.Wherein mission planning unit mainly solves the planning problem of modeling, and then behavior allocation unit is to rule Check off fruit carries out the distribution of sequence, and behavior execution unit is concrete implementation person.In corresponding three main process, it is respectively present It may cause the situation of system operation exception, be that planning failure, the distribution in behavior distribution period in mission planning period are lost respectively Lose and behavior perform during perform failure, these abnormal conditions have seriously endangered the robustness and stability of system, therefore Need to carry out reply processing for these three situations, as shown in Figure 1, introducing mission planning failure handling respectively, behavior distribution is lost Lose processing and behavior performs failure handling flow, specific implementation is as shown in Figure 2.
A kind of mobile robot mission planning disclosed by the embodiments of the present invention and execution abnormal conditions processing method, including:
(1) whether mobile robot succeeds according to planning situation condition adjudgement mission planning, and task rule are carried out if failure Draw abnormal conditions reply.This step abnormality processing includes:
(1.1) the intelligent node issue order into environment, while warning message is exported to user, by disperseing in environment Sensing node and man-machine collaboration, obtain up-to-date information and more new knowledge base;
(1.2) carry out task weight-normality to draw, if planned successfully, enter step (2), otherwise repeat mission planning exception Situation is tackled.
(2) after mobile robot obtains program results, before each behavior distribution, judge that implementation condition is under current environment No satisfaction, carries out behavior distribution abnormal conditions reply if being unsatisfactory for.This step abnormality processing includes:
(2.1) current execution state S is preserved;
(2.2) the intelligent node issue order into environment, while warning message is exported to user, by disperseing in environment Sensing node and man-machine collaboration, obtain up-to-date information and more new knowledge base;
(2.3) task weight-normality is carried out on the basis of state S is performed to draw, if planning failure, carry out mission planning exception feelings Condition is tackled, successful then enter step (2.4);
(2.4) result newly planned is re-started behavior distribution, be such as allocated successfully and enter step (3), otherwise repeat into Every trade is distribution abnormal conditions reply.
(3) mobile robot is after the behavior of distribution is received, and in executive program, is held according to condition adjudgement behavior is performed Whether row succeeds, and next behavior is performed if running succeeded to ending task, exception is performed if performing failure and carrying out behavior Situation is tackled.This step abnormality processing includes:
(3.1) judge whether current behavior anomalous counts device is less than setting value, if less than if retry behavior perform and It is abnormal to judge, otherwise preserve current execution state S;
(3.2) warning message is exported to user, by man-machine collaboration, the software and hardware in removal system is abnormal;
(3.3) task weight-normality is carried out on the basis of state S is performed to draw, if planning failure, carry out mission planning exception feelings Condition is tackled, successful then enter step (3.4);
(3.4) behavior distribution is re-started to the result newly planned and is performed, if run succeeded, is waited to be received next Behavior command or task terminate, and otherwise repeat behavior and perform abnormal conditions reply.
The present invention performs three kinds of situations of failure with behavior for mission planning failure, behavior distribution failure and introduces " weight-normality Draw management ", " condition detection ", " feedback processing " and " retry-alarm " unit tackle these situations.Wherein " planning management again " Unit is mainly used for receiving what the feedback states of mission planning failure, the state of behavior distribution failure and behavior execution repeatedly failed State, into environment, other intelligent bodies ask for help, by the information Perception or man-machine collaboration of other intelligent bodies to update The information needed, and notify mission planning unit to carry out task and plan again;" condition inspection " unit is mainly used for distributing in behavior Stage is matched the condition that behavior is implemented with current information, judges whether current information meets implementation condition, if being unsatisfactory for The information of behavior distribution failure is then sent to weight-normality stroke administrative unit by feedback processing unit;" feedback processing " unit is mainly used In the feedback states of reception behavior features implementing result, when performing failure, " retry-alarm " unit is notified;" retry-alarm " is single Member, decayed tooth are used to, to counting number of retries when performing failure, administrative unit hair is drawn to weight-normality after more than setting value Go on a journey to perform the warning message repeatedly to fail.
The specific abnormal behaviour processing method of the embodiment of the present invention is discussed in detail with reference to Fig. 2:
When system carries out the mission planning stage, if planning failure, notice " planning management again " unit, planning unit starts Into wait state, the feedback result of wait " planning management again " unit;
" planning management again " unit receives the feedback states of planning failure;
" planning management again " unit other intelligent bodies into environment ask for help, by the information Perceptions of other intelligent bodies or Person man-machine collaboration updates required information;
" planning management again " notifies mission planning unit after fresh information, and mission planning unit is advised again Draw, until planning successfully.
When system enters behavior allocated phase, " condition inspection " is initially entered, " condition inspection " unit implements the behavior Precondition matched with current information, if it find that current information can not meet the implementation condition of the behavior, then Behavior distribution failure, " condition inspection " unit will be to transmission feedback informations.
Current execution state S is preserved, starts planning unit, juxtaposition planning unit is wait state;
" planning management again " unit asks for help after the state of behavior distribution failure is received to other intelligent bodies;
" planning management again " notifies mission planning unit, mission planning unit is in current shape after fresh information Quadratic programming is carried out on the basis of state, until mission planning and behavior are allocated successfully.
The stage is performed when system enters behavior, implementing result is fed back to feedback processing unit by execution unit, if performed As a result fail, then enter " retry-alarm " unit
Definition:Limited_count is the number that the behavior most multipotency retries.
If the number that current behavior retries is less than Limited_count, execution unit is attempted to re-execute the behavior;
If the number that current behavior retries is not less than Limited_count, " planning management again " unit is notified;Preserve Current execution state S, starts planning unit, juxtaposition planning unit is wait state;
" planning management again " unit receives the feedback of " retry-alarm " unit;
" planning management again " unit exports warning message to user, notifies software and hardware, net of the user to corresponding execution unit Network communication software and hardware etc. is upgraded;
" planning management again " unit notifies mission planning unit, mission planning unit is in mesh after receiving and upgrading successfully Quadratic programming is carried out on the basis of preceding state, until completing all tasks.
Table 1 is mobile robot mission planning disclosed by the embodiments of the present invention and the pseudo- generation for performing abnormal conditions processing method Code.
Table 1
Symbol description:
Plan:Execution plan operates
Repan_Monitor:Weight-normality draws monitoring
Post_Process:Mission planning output is handled
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
Limited_count:Behavior retries restriction number
id:The sequence number of current behavior
Preconditions_State:Implement precondition testing result
Check_Failed:Implement precondition detection status of fail
Above-described specific implementation method, has carried out further specifically technical scheme and beneficial effect It is bright, it should be understood that the above is the specific embodiment of the invention, within the spirit and principles of the invention, done All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention.

Claims (2)

1. a kind of mobile robot mission planning is with performing abnormal conditions processing method, it is characterised in that this method includes:
(1)Whether mobile robot succeeds according to planning situation condition adjudgement mission planning, and it is different that mission planning is carried out if failure Reason condition is tackled;The method of the mission planning abnormal conditions reply includes:
(1.1)Intelligent node issue order into environment, while warning message is exported to user, pass through the intelligence disperseed in environment Energy node and man-machine collaboration, obtain up-to-date information and more new knowledge base;
(1.2)Carry out task weight-normality is drawn, if planned successfully, is entered step(2), otherwise repeat mission planning abnormal conditions Reply;
(2)After mobile robot obtains program results, before each behavior distribution, judge whether implementation condition is full under current environment Foot, carries out behavior distribution abnormal conditions reply if being unsatisfactory for;The method of the behavior distribution abnormal conditions reply includes:
(2.1)Preserve current execution state S;
(2.2)Intelligent node issue order into environment, while warning message is exported to user, pass through the intelligence disperseed in environment Energy node and man-machine collaboration, obtain up-to-date information and more new knowledge base;
(2.3)Carry out task weight-normality on the basis of state S is performed to draw, if planning failure, carrying out mission planning abnormal conditions should It is right, it is successful then enter step(2.4);
(2.4)Behavior distribution is re-started to the result newly planned, is such as allocated successfully and enters step(3), otherwise repeat to go For distribution abnormal conditions reply;
(3)Mobile robot is after the behavior of distribution is received, and in executive program, is according to performing condition adjudgement behavior and performing No success, performs next behavior to ending task if running succeeded, abnormal conditions is performed if performing failure and carrying out behavior Reply;The method that the behavior performs abnormal conditions reply includes:
(3.1)Judge whether current behavior anomalous counts device is less than setting value, carry out retrying behavior execution and exception if being less than Judge, otherwise preserve current execution state S;
(3.2)Warning message is exported to user, by man-machine collaboration, the software and hardware in removal system is abnormal;
(3.3)Carry out task weight-normality on the basis of state S is performed to draw, if planning failure, carrying out mission planning abnormal conditions should It is right, it is successful then enter step(3.4);
(3.4)Behavior distribution is re-started to the result newly planned and is performed, if run succeeded, waits next behavior to be received Order or task terminate, and otherwise repeat behavior and perform abnormal conditions reply.
A kind of 2. dress realized mobile robot mission planning as claimed in claim 1 and perform abnormal conditions processing method Put, it is characterised in that including:Weight-normality draws administrative unit, and condition inspection unit and retries-alarm unit at feedback processing unit;
The weight-normality draws administrative unit, for receiving the feedback states of mission planning failure, the information that behavior distribution fails and row To perform the information repeatedly to fail, into environment, other intelligent bodies ask for help, by the information Perceptions of other intelligent bodies or Man-machine collaboration updates required information, and notifies mission planning unit to carry out task and plan again;
The condition inspection unit, for being matched the condition that behavior is implemented with current information in behavior allocated phase, sentences Whether disconnected current information meets implementation condition, and drawing administrative unit to weight-normality by feedback processing unit if being unsatisfactory for sends behavior Distribute the information of failure;
The feedback processing unit, for the feedback states of reception behavior features implementing result, when performing failure, notice is retried-reported Alert unit;
It is described to retry-alarm unit, for perform failure when number of retries is counted, after more than setting value to weight Planning management unit sends behavior and performs the warning message repeatedly to fail.
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