CN109986581A - A kind of multitask service robot and service system - Google Patents
A kind of multitask service robot and service system Download PDFInfo
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- CN109986581A CN109986581A CN201910369515.1A CN201910369515A CN109986581A CN 109986581 A CN109986581 A CN 109986581A CN 201910369515 A CN201910369515 A CN 201910369515A CN 109986581 A CN109986581 A CN 109986581A
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- task
- pending
- service
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- service robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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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
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
It includes task receiving module, task processing module, self-navigation module, task execution module that the application, which provides a kind of multitask service robot and service system, multitask robot,.Task receiving module receives pending temporary duty instruction, and temporary duty information corresponding with temporary duty instruction is sent to task processing module, the pending task of task processing module processing and temporary duty information, the assignment instructions that processing is completed are sent to self-navigation module and task execution module, self-navigation module planning service route, task execution module provide service according to service route control multitask service robot.Multitask robot service system includes above-mentioned multitask service robot, background service device and at least one charging pile；Background service device is responsible for transmission assignment instructions and gives multitask service robot, and charging pile is responsible for supplementing electricity to multitask service robot.By multitask service robot and system, service quality and efficiency can be improved.
Description
Technical field
This application involves robot fields, more particularly, to a kind of multitask service robot and service system.
Background technique
With the development of Study of Intelligent Robot Control technology, robot occurs in more and more public arenas, undertakes
More and more posts, and corresponding service item is provided, greatly facilitate people's lives.At this stage, robot will be held
Capable task type, task time are all arranged in advance, the job order one that robot executes, and robot is in the task of planning
Except time, any task no longer will be performed, flexibility is poor, and efficiency of service is low.
Summary of the invention
In view of this, the application's is designed to provide a kind of multitask service robot and service system, can provide
A kind of task time is adjustable, the selectable multitask service robot of task type, and service quality is good, high-efficient.
The embodiment of the present application provides a kind of multitask service robot, and the multitask service robot includes: task
Receiving module, task processing module, self-navigation module, task execution module；
The task receiving module, for receiving pending temporary duty instruction, and will be corresponding with temporary duty instruction
Temporary duty information be sent to the task processing module；
The task processing module, for obtaining pending task list, or based on the service robot in history
The historic task information executed in period generates pending task list, wherein the pending task list includes at least
One preset time period and the pending pending mission bit stream of the service robot in each preset time period receive institute
The temporary duty information for stating the transmission of task receiving module, the pending task list and the temporary duty information are sent to
The self-navigation module and the task execution module；
The self-navigation module, for receiving the pending task list and interim that the task processing module is sent
Be engaged in information, according in the pending task list multiple pending tasks and the temporary duty information is corresponding interim appoints
Business, generates the corresponding pending service route of each pending task and the corresponding transient service route of temporary duty respectively, and
The transient service route of the service route of the pending task of each of generation and temporary duty is sent to the task execution mould
Block；
The task execution module, for receiving the pending clothes of the pending task list and each pending task
Business route, or the transient service route of the temporary duty and the temporary duty is received, and control the service robot
Task execution region is moved to according to the corresponding pending service route of each pending task, and executes corresponding pending
Business, or the control service robot face according to the transient service line-of-road movement to task execution region, and described in execution
When task.
Further, the task processing module is also used to:
The historic task information that task is executed according to the multitask service robot, counts in each preset time period
The task type and each task type that the service robot executes execute number, will be in each described preset time period
Interior execution number is set as pending in corresponding preset time period more than the task type that any one task type executes number
Task is based on each preset time period and pending task corresponding with each described preset time period, generates pending
Task list.
Further, the task execution module is also used to:
It detects whether to receive interim pending mission bit stream；
If receiving interim pending mission bit stream, control the multitask service robot be moved to it is described interim
The corresponding mission area of pending task executes interim pending task；
If not receiving interim pending mission bit stream, control the multitask service robot be moved to it is described to
The charging pile that the corresponding mission area distance of sub- period for executing task list planning is less than pre-determined distance value, which charges, to be waited.
Further, stating the received interim pending mission bit stream of task receiving module includes the multitask service-delivery machine
Interim pending mission bit stream and the background service dress that the operator that people receives inputs on the multitask service robot
Set the interim pending mission bit stream of sending.
Further, the task execution module is also used to:
The service robot is controlled in each preset time period and executes pending task, or in the temporary duty
The execution moment of information instruction executes corresponding pending task or temporary duty according to task execution priority, wherein
The execution moment of the temporary duty information instruction, the task execution priority of the temporary duty are higher than in the task list
The task execution priority of pending task in preset time period corresponding with the execution moment.
Further, the task execution module is also used to:
After receiving the temporary duty information that the task processing module is sent, it is corresponding to stop the execution current preset period
Pending task, after executing and completing the temporary duty, continue to execute be not carried out completion the current preset period it is corresponding
Pending task.
Further, the task execution module is also used to:
It executes and completes current preset period corresponding pending task in pending task list, control the multitask clothes
Business robot is moved to mission area distance corresponding with preset time period next in the pending task list less than default
The charging pile of distance value, which charges, to be waited.
Further, the task execution module is also used to:
In the service robot waiting period, according to the temporary duty information and next preset time period received
Initial time, control the multitask service robot to the corresponding coverage of temporary duty information and execute temporary duty.
Further, the task processing module is also used to:
According to the number for receiving same period temporary duty information, the pending task list is updated.
The embodiment of the present application also provides a kind of multitask robot service system, the service systems, robot of the multitask
System includes the multitask service robot that one embodiment of the application provides, background service device and at least one charging pile, described
Multitask service robot and background service device communication connection；
The background service device, for receiving the pending temporary duty instruction of operator's input, and will it is described to
The temporary duty instruction of execution is sent to the multitask service robot；
At least one described charging pile, for giving the multitask machine for executing corresponding task in mission area pre-determined distance
People supplements electricity.
A kind of multitask service robot provided by the embodiments of the present application and service system.By task processing module according to
Historic task information generate pending task list, self-navigation module according in the pending task list it is multiple to
Execute task type, generate the service route of the service robot, the task execution module, according to task execution list and
Service route executes corresponding task, and during execution task, task receiving module receives multiple temporary duty instructions, according to institute
It states multiple temporary duty instructions and controls the service robot execution corresponding task, can control same service robot not
Different task is executed with the period, and service robot task type can be adjusted according to actual needs, providing needs with practical
Seek more matched High-effective Service.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of structure chart of multitask robot service system provided by the embodiment of the present application；
Fig. 2 shows a kind of structure charts of multitask service robot provided by the embodiment of the present application；
Fig. 3 shows pending task list schematic diagram provided by the embodiment of the present application；
Fig. 4 shows pending task list provided by the embodiment of the present application and updates schematic diagram.
Icon: 100- multitask robot service system；110- multitask service robot；120- background service device；
130- charging pile；111- task receiving module；112- task processing module；113- self-navigation module；114- task execution mould
Block.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
Middle attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
It is some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, below to the application's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit claimed scope of the present application, but is merely representative of the selected reality of the application
Apply example.Based on embodiments herein, those skilled in the art are obtained every without making creative work
A other embodiments, shall fall in the protection scope of this application.
With the development of Study of Intelligent Robot Control technology, robot occurs in more and more public arenas, undertakes
More and more posts provide corresponding service item, greatly facilitate people's lives.At this stage, robot will execute
Task type, task time be all artificially arranged in advance, robot execute job order one, and robot planning appoint
It is engaged in except the time, no longer will be performed any task, flexibility is poor, due also to causing robot effectively to service the problem of power supply
Time is relatively short, and efficiency of service is low.
In view of this, the application's is designed to provide a kind of multitask service robot 110 and service system, Ke Yiti
It is adjusted for a kind of task time, the selectable multitask service robot 110 of task type, service quality is good, high-efficient.
Firstly, a kind of multitask robot service system 100 of the disclosure as set forth herein is introduced.
Referring to Fig. 1, the embodiment of the present application provides a kind of multitask robot service system 100.The multitask machine
People's service system 100 includes multitask service robot 110, background service device 120 and at least one charging pile 130, described
Multitask service robot 110 and the background service device 120 communication connection；
The background service device 120, for receiving the pending temporary duty instruction of operator's input, and will be described
Pending temporary duty instruction is sent to the multitask service robot 110；
At least one described charging pile 130, for giving the multitask for executing corresponding task in mission area pre-determined distance
Robot supplements electricity.
Multitask robot service system 100 provided by the present application includes multitask service robot 110, background service dress
Set 120, multiple charging piles 130.Pending assignment instructions are sent to the multitask service robot by background service device 120
110, after the multitask service robot 110 receives the temporary duty instruction of the transmission of background service device 120, according to described
Temporary duty instruction generates service route corresponding with temporary duty instruction, and road is instructed and serviced according to the temporary duty
Line provides corresponding service.In 110 service route of multitask service robot, it can be set in the fixation of task areas adjacent
Charging pile 130 is set, supplements electricity for the multitask service robot 110, guarantees that the multitask service robot 110 can be with
Normal offer service is provided.
Here, the pending temporary duty instruction that the background service device 120 is sent can be operator's input
Temporary duty instruction is also possible to the temporary duty that the current task that background service device 120 oneself statistics calculates needs to generate
Instruction.
For example, thering is a tourist group to enter hotel in 15:00, the offer of multitask service robot 110 is needed to meet at this time
Obeying business, operator is after the instruction for receiving welcome's needs, by welcome's instruction input to the background service device 120, after
Platform service unit 120 generates welcome's assignment instructions and is sent to multitask service robot 110, the multitask service robot
110, which reach appointed task region, executes welcome's task.
Wherein, operator can enter backstage in several ways, such as pass through the application program of mobile terminal or logical
It crosses mobile terminal barcode scanning and enters backstage, easily carry out assignment instructions input and modification.
In addition, the background service device 120 can be with the actual demand of each coverage of real-time collecting, according to task need
It seeks survival into corresponding assignment instructions and issues the multitask service robot 110, the arrival of multitask service robot 110 refers to
Determine mission area and execute task, alleviates the service pressure of the mission area.For example, have the movable period in hotel, need to
The spectators of site of activity distribute movable gift, and background service device 120 detects the mission requirements data in counter region, and generation is sent
Object instruction is sent to multitask service robot 110, and the multitask service robot 110, which receives, send object to instruct, and reaches goods
The movable gift is distributed to the spectators in site of activity by cabinet acquirement activity gift.
Charging pile 130 can be set near each common coverage, supplement electricity for the multitask service robot 110
Amount, charging pile 130 can be arranged near dining room, near counter, there are also near foreground.In the multitask service robot
110, in the waiting time for executing corresponding task, charge for multitask service robot 110, guarantee multitask service robot 110
Effective service time.
The setting position of the charging pile 130 can according to active service needs, adjust position, for example, can choose with
Each coverage is apart from approximately equal position, as the charging zone of multitask service robot 110, by the charging pile 130
The charged area of planning is set for the charging of multitask service robot 110.
It is multitask service robot 110 that the multitask robot service system 100, which may include more, in difference
Period executes same task or executes different task in same time period, guarantees that multitask robot service system 100 takes
The effect of business.
Such as can be in the 8:00-11:00 period, a multitask service robot 110 executes welcome's task, more than one
Task service robot 110 executes propaganda task, is configured according to task actual needs.
When more multitask 110 federated services of service robot, it can be filled in different charging piles 130
Electricity, or when executing same task, multiple charge ports are arranged in charging pile 130, can be in same mission area more than more
Task service robot 110 charges.
The embodiment of the present application sends a variety of temporary duties to multitask service robot 110 by background service device 120
Instruction allows multitask service robot 110 to execute the temporary duty instruction that a variety of background service devices 120 are sent, root
A variety of services are provided according to actual needs, and multiple charging piles 130 are set on executing task route, ensure that multitask service
The effective time of robot 110 improves the service quality and efficiency of multitask service robot 110, ensure that more
The effective time of business service robot 110.
Referring to Fig. 2, a kind of structure chart of multitask service robot 110 provided by Fig. 2 the embodiment of the present application.
The multitask service robot 110 includes: task receiving module 111, task processing module 112, self-navigation
Module 113, task execution module 114；
The task receiving module 111, for receiving pending temporary duty instruction, and will be with temporary duty instruction pair
The temporary duty information answered is sent to the task processing module 112；
The task processing module 112 is being gone through for obtaining pending task list, or based on the service robot
The historic task information executed in the history period generates pending task list, wherein the pending task list includes extremely
A few preset time period and the pending pending mission bit stream of the service robot in each preset time period, receive
The temporary duty information that the task receiving module 111 is sent, by the pending task list and the temporary duty information
It is sent to the self-navigation module 113 and the task execution module 114；
The self-navigation module 113, for receive pending task list that the task processing module 112 is sent and
Temporary duty information, according in the pending task list multiple pending tasks and the temporary duty information it is corresponding
Temporary duty generates the corresponding pending service route of each pending task and the corresponding transient service road of temporary duty respectively
Line, and the transient service route of the service route of the pending task of each of generation and temporary duty is sent to the task and is held
Row module 114.
The task execution module 114, for receive the pending task list and each pending task wait hold
Row service route, or the transient service route of the temporary duty and the temporary duty is received, and control the server
Device people moves to task execution region according to the corresponding pending service route of each pending task, and executes corresponding wait hold
Row task, or the service robot is controlled according to the transient service line-of-road movement to task execution region, and executes institute
State temporary duty.
Here, it before the multitask service robot 110 receives temporary duty, needs according to pending task list
Shown in task type go execution task, wherein the task list, which can be, to be acquired, and is also possible to multitask service
What the task processing module 112 of robot 110 generated.
The task processing module 112 collects the service history of the historical time section of the multitask service robot 110
Data generate pending task list according to the service history data, and the multitask service robot 110 is according to pending
Corresponding task successively executes each generic task in pending task list in task list.Generating pending task list mistake
Cheng Zhong, task processing module 112 count in each default historical time section, and task type and each task type are performed time
Number counts and executes the most task type of number in each sub- period, using the generic task as the task in the corresponding period
Type.Operator can be according to the practical executive condition of all tasks, pending generated to the task processing module 112
Business list is adjusted, and the pending task list is made to be more in line with active service needs.
Alternatively, pending task list can be generated directly by operator according to the needs of each period active service,
The pending task list is sent to task processing module 112, task processing module 112 is to the pending task list
It is forwarded to the self-navigation module 113 and the task execution module 114.
For example, moving in peak period in 8:00-11:00 according to statistics discovery for user, welcome's generic task is in this period quilt
Execution number is most, so the task type of 8:00-11:00 is welcome in pending task list.It is used in 11:00-13:00
It eats peak period, food delivery task is performed that number is most, so the task type of 11:00-13:00 is in pending task list
Food delivery, and so on, a pending task list 8:00-11:00 welcome, 11:00-13:00 food delivery, 13:00- can be formed
16:00 send object, 16:00-18:00 publicity, and 18:00-20:00 is led, and the pending task list of generation is as shown in Figure 3.
The pending task list of generation is sent to self-navigation module 113 and described by the task processing module 112
Task execution module 114.
After the self-navigation module 113 receives pending task list, according to the task type in each period
Distribution with coverage generates service route.
For example, in the 8:00-11:00 period, the multitask service robot 110 will execute welcome's task, it is described from
Dynamic navigation module 113 by task objective is set as reception counter of hotel, and starting point is that multitask service robot 110 is presently in position
It sets, a plurality of route can be set between starting point and destination, selected according to the actual situation with facilitating, wherein practical feelings
Condition may include the distance of travelling route, the number etc. of road.
The task execution module 114 according to the service route of the pending task list and each pending task,
It controls the multitask service robot 110 and corresponding with service is provided.
For example, the 11:00-13:00 according to task list will execute food delivery task, the task execution module 114
According to the food delivery route that the self-navigation module 113 generates, takes food to kitchen of restaurant and sent corresponding food according to order information
To at corresponding dining room guest, a food delivery task is completed.
It is being not received by new pending temporary duty instruction, the task execution module 114 is according to pending
Each preset time period shown in business list goes to execute the corresponding task of each preset time period, is executing the current preset time
After the corresponding task of section, the charging of charging pile 130 being moved near the corresponding mission area of next preset time period is waited
Execution task.
It, can be to the multitask service after operator or background service device 120 have found that actual task needs change
Robot 110 sends temporary duty instruction.Temporary duty instruction can be the transmission of background service device 120, can also be with
It is that operator inputs on multitask service robot 110.
For example, discovery there are propaganda task needs during 8:00-11:00 welcome's task, background service device can be passed through
120 send publicity instruction to the multitask service robot 110, when operator is apart from the multitask service robot 110
When close, instruction can also be inputted by the touch display screen of the multitask service robot 110 or passes through more
The voice interaction module of business service robot 110 carries out voice command input to multitask service robot 110.
It, will be corresponding with temporary duty instruction after the task receiving module 111 receives pending temporary duty instruction
Temporary duty information be sent to task processing module 112.
Task processing module 112 after receiving temporary duty information, by the temporary duty information be sent to it is described from
Dynamic navigation module 113 and the task execution module 114.
After the task execution module 114 receives temporary duty information, the urgent journey of the temporary duty information is judged
The transient service route of degree and the temporary duty information, plans that the temporary duty information executes sequence.
For example, user needs to be sent at once, the task if being connected to food delivery instruction in 8:00-11:00 welcome's period
Processing module 112 is sent to self-navigation module 113 and the task execution module after being connected to food delivery instruction, by food delivery instruction
114.The self-navigation module 113 generates foreground to restaurant kitchen route, and the task execution module 114 terminates welcome at once
Task generates foreground to restaurant kitchen route according to self-navigation module 113, executes food delivery task, executing urgent food delivery
After task, continuing to return to foreground and execute is the welcome's task completed.
If receiving publicity instruction, but propaganda task urgency level is lower than sending in 11:00-13:00 food delivery task time
Meal task, can be after food delivery task execution, and the task processing module 112 will advertise that instruction is sent to self-navigation mould
Block 113 and the task execution module 114.The self-navigation module 113 generates dining room to the route for publicizing area, the task
Execution module 114 generates dining room to the route for publicizing area according to the self-navigation module 113, reaches publicity area and is publicized.
After publicity, reaches subsequent time period and send neighbouring charging pile 130 of the corresponding counter of object task etc. is pending to send object task.
If being finished during 16:00-18:00 propaganda task in 16:00-17:00 propaganda task, the multitask service
Robot 110 waits at the corresponding charging pile 130 led near task of subsequent time period, the task processing module
112 can be sent to any one assignment instructions self-navigation module 113 and the task execution module 114.It is described to lead automatically
Model plane block 113 generates corresponding service route, and the task execution module 114 is according to the self-navigation module 113 generation pair
The service route answered executes task.After having executed the assignment instructions that the task processing module 112 is sent, returns and lead
It is pending at charging pile 130 near task etc. to lead task.
Task processing module 112 can count time that the pending temporary duty instruction that each period receives occurs
Number, changes pending task list according to the actual situation.
For example, the number that food delivery instruction occurs refers to far more than publicity in the 16:00-18:00 propaganda task period
The number occurred is enabled, the task processing module 112 will update pending task list.16:00-18:00 is changed to food delivery
Assignment instructions.
Or within the 13:00-16:00 period, execution send the time of object assignment instructions to concentrate on 13:00-15:00, and
It is most that number is performed in the instruction of 15:00-16:00 propaganda task, the 13:00-16:00 period can further be divided
Refinement is cut, 13:00-15:00 execution send object to instruct, and 15:00-16:00 executes propaganda task.Based on this by pending task list
It is updated.List update process is as shown in Figure 4.
The embodiment of the present application, by task processing module 112 according to the multitask service robot 110 in history
Between section execute historic task information, task type and period are mapped, counted in each sub- period, every kind of task class
Type is performed number, will be performed the most task type of number and is set as corresponding to the task of sub- period, generates pending
Business list, and the pending task list is sent to the self-navigation module 113 and the task execution module 114.
The self-navigation module 113 generates described pending according to multiple pending tasks in the pending task list
The service route of each pending task, the task execution module 114 control the service robot each in business list
It is serviced in the sub- period according to service route corresponding with the pending task in each sub- period.At described
Business receiving module 111 receives multiple pending assignment instructions, and the multiple pending assignment instructions are sent to described appoint
Be engaged in processing module 112, the task processing module 112 according to execution time of the multiple pending assignment instructions or
Route is executed, the multiple pending assignment instructions are sent to the self-navigation module 113 and the task execution mould
Block 114, the self-navigation module 113 generate service route corresponding with the multiple pending assignment instructions, the task
Execution module 114 stops current execution task, executes the pending temporary duty instruction newly received, executes and complete interim appoint
Business instruction, is continuing to execute the corresponding task of current slot.Can according to a variety of generic tasks of the orderly execution of historical data, and
According to actual needs change multitask service robot 110 execute task, can more flexible execution task, task execution
It is more efficient.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be through some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, the application
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the application
State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-Only
Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. is various to deposit
Store up the medium of program code.
Finally, it should be noted that embodiment described above, the only specific embodiment of the application, to illustrate the application
Technical solution, rather than its limitations, the protection scope of the application is not limited thereto, although with reference to the foregoing embodiments to this Shen
It please be described in detail, those skilled in the art should understand that: anyone skilled in the art
Within the technical scope of the present application, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of the embodiment of the present application technical solution, should all cover the protection in the application
Within the scope of.Therefore, the protection scope of the application should be subject to the protection scope in claims.
Claims (10)
1. a kind of multitask service robot, which is characterized in that the multitask service robot includes: task receiving module,
Task processing module, self-navigation module, task execution module；
The task receiving module for receiving pending temporary duty instruction, and corresponding with temporary duty instruction will face
When mission bit stream be sent to the task processing module；
The task processing module, for obtaining pending task list, or based on the service robot in historical time
The historic task information executed in section generates pending task list, wherein the pending task list includes at least one
Preset time period and the pending pending mission bit stream of the service robot in each preset time period receive described appoint
The pending task list and the temporary duty information are sent to described by the temporary duty information that business receiving module is sent
Self-navigation module and the task execution module；
The self-navigation module, for receiving the pending task list and temporary duty letter that the task processing module is sent
Breath, according to the multiple pending tasks and the corresponding temporary duty of the temporary duty information in the pending task list,
The corresponding pending service route of each pending task and the corresponding transient service route of temporary duty are generated respectively, and will be given birth to
At each of the service route of pending task and the transient service route of temporary duty be sent to the task execution module；
The task execution module, for receiving the pending service road of the pending task list and each pending task
Line, or receive the transient service route of the temporary duty and the temporary duty, and control the service robot according to
The corresponding pending service route of each pending task moves to task execution region, and executes corresponding pending task,
Or the service robot is controlled according to the transient service line-of-road movement to task execution region, and execute described interim
Business.
2. multitask service robot according to claim 1, which is characterized in that the task processing module is also used to:
The historic task information that task is executed according to the multitask service robot, counts described in each preset time period
The task type and each task type that service robot executes execute number, will hold in each described preset time period
Row number is set as the pending task in corresponding preset time period more than the task type that any one task type executes number,
Based on each preset time period and pending task corresponding with each described preset time period, pending task column are generated
Table.
3. multitask service robot according to claim 1, which is characterized in that the task execution module is also used to:
It detects whether to receive interim pending mission bit stream；
If receiving interim pending mission bit stream, controls the multitask service robot and be moved to described temporarily wait hold
The corresponding mission area of row task executes interim pending task；
If not receiving interim pending mission bit stream, control the multitask service robot be moved to it is described pending
The charging pile that corresponding mission area distance of the sub- period of task list planning is less than pre-determined distance value, which charges, to be waited.
4. multitask service robot according to claim 1, which is characterized in that the task receiving module is received to be faced
When pending mission bit stream include the operator that receives of the multitask service robot in the multitask service robot
The interim pending mission bit stream that the interim pending mission bit stream and background service device of upper input issue.
5. multitask service robot according to claim 1, which is characterized in that the task execution module is also used to:
The service robot is controlled in each preset time period and executes pending task, or in the temporary duty information
The execution moment of instruction executes corresponding pending task or temporary duty according to task execution priority, wherein described
The execution moment of temporary duty information instruction, the task execution priority of the temporary duty are higher than in the task list and institute
State the task execution priority for executing the pending task in moment corresponding preset time period.
6. multitask service robot according to claim 1, which is characterized in that the task execution module is also used to:
After receiving the temporary duty information that the task processing module is sent, stop executing the current preset period it is corresponding to
Execution task, after executing and completing the temporary duty, continue to execute be not carried out completion the current preset period it is corresponding to
Execution task.
7. multitask service robot according to claim 1, which is characterized in that the task execution module is also used to:
It executes and completes current preset period corresponding pending task in pending task list, control the multitask service
Robot be moved to corresponding with preset time period next in pending task list mission area distance be less than it is default away from
Charging pile from value, which charges, to be waited.
8. multitask service robot according to claim 7, which is characterized in that the task execution module is also used to:
In the service robot waiting period, according to rising for the temporary duty information and next preset time period received
Begin the time, controls the multitask service robot to the corresponding coverage of temporary duty information and execute temporary duty.
9. multitask service robot according to claim 1, which is characterized in that the task processing module is also used to:
According to the number for receiving same period temporary duty information, the pending task list is updated.
10. a kind of multitask robot service system, which is characterized in that including more as claimed in any one of claims 1-9 wherein
Task service robot, background service device and at least one charging pile, the multitask service robot and backstage clothes
Business device communication connection；
The background service device, for receiving the pending temporary duty instruction of operator's input, and will be described pending
Temporary duty instruction be sent to the multitask service robot；
At least one described charging pile, for being mended in mission area pre-determined distance to the multitask robot for executing corresponding task
Charge volume.
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