CN111105155B - Role-based group unmanned system collaborative task management method - Google Patents
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Abstract
The invention relates to a role-based collaborative task management method for a group unmanned system, belonging to the technical field of group unmanned system control; the method comprises the following steps of: the roles are basic scheduling units; describing and giving different capabilities to roles by using plug-ins; based on the mounting/unloading of the plug-in, the switching of different roles is realized; role switching mechanism: the method comprises the following steps of event triggering and event processing: event triggering is used for generating an event triggering role switching; event processing is used for responding to the event; group organization management mechanism: for group management in response to the event. Compared with the prior art, the invention provides a collaborative task management mechanism at the operating system level, solves the problem that the group unmanned system realizes tasks according to the dynamic organization, dynamic configuration and autonomous collaboration of the tasks, and improves the intelligence and autonomy of the group unmanned system and the convenience of the heterogeneous group unmanned system organization.
Description
Technical Field
The invention belongs to the technical field of group unmanned system control, relates to a group collaborative task management method, and particularly relates to a group unmanned system collaborative task management method based on roles.
Background
The group intelligent unmanned system fuses the technologies of group integration intelligence, autonomous intelligence, manned/unmanned cooperative intelligence and the like, is an important grip for the development of artificial intelligence from a statistical learning stage to an environment-adaptive stage, and is a strategic and subverted technology for leading the future. Currently, intelligent unmanned systems have become a new hotspot for research and competition in countries around the world. In the new generation artificial intelligence development planning, the group integration intelligence is also regarded as an important development direction and breakthrough point. The professor Nagpal to harvard university has designed a Kilobot clustered robot system consisting of 1024 micro-robots that achieve decentralised, point-to-point, large-scale, collaborative intelligent behavior and organization patterns. The European Union has developed MARTHA projects for multi-robot systems to study group synergy problems. The Nissan corporation of Japan set up EPORO to study the unmanned system of the population.
As important basic software of the unmanned platform, the robot operating system provides important support for developing unmanned system research, and provides new thought and mode for improving task collaborative management capability and intelligent group behaviors of the unmanned system. The robot operating system ROS (Robot Operating System) proposed by the Stanford university at the earliest time realizes a distributed computing system based on a communication mode of publish/subscribe, and effectively supports the development of a distributed and heterogeneous unmanned platform. Aiming at the characteristics of resource management and behavior management of the group unmanned system, the group intelligent robot operating system micROS is developed, and control abstraction and a software framework based on roles are realized. micROS roles (actor) refer to the behavior of the robot to complete one execution of a given task, and are also basic scheduling units of micROS, different roles bind different plug-in groups, run different algorithms and realize different functions.
When aiming at different group cooperative tasks, the group unmanned system needs to play different roles according to the changes of the body state and the external environment in the space-time dimension so as to perform cooperation with different granularities. In the current task management method, vertical programming development is mainly performed aiming at a specific single unmanned system or cluster and specific application, and flexible and effective support is lacking in the aspects of heterogeneous group dynamic organization, group task dynamic configuration, group autonomous cooperation and the like, so that a method and a mechanism suitable for efficient collaborative task management of the group unmanned system need to be designed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a role-based collaborative task management method for a group unmanned system, which aims at the lack of flexible and effective support of the group unmanned system in the aspects of heterogeneous group dynamic organization, group task dynamic configuration, group autonomous cooperation and the like, provides a collaborative task management mechanism at the operating system level, solves the problem that the group unmanned system realizes tasks according to the task dynamic organization, the dynamic configuration and the autonomous cooperation, and improves the intelligence and the autonomy of the group unmanned system and the convenience of the heterogeneous group unmanned system organization.
The invention is based on the control abstraction of 'role', takes role (Actor) as the core concept of the group intelligent operation system, and takes role framework as the basis of the group intelligent operation system for carrying out unmanned system intelligent behavior management.
The aim of the invention is achieved by the following technical scheme.
A group unmanned system collaborative task management method based on roles comprises the following contents:
A. role scheduling mechanism:
The roles are basic scheduling units;
Describing and giving different capabilities to roles by using plug-ins;
Based on the mounting/unloading of the plug-in, the switching of different roles is realized;
Preferably, the role scheduling mechanism provides a function scheduling interface for role playing, activating, dormancy and switching;
Role playing is used for realizing loading of the role corresponding plug-in;
The role dormancy is used for realizing the safety pause of the plug-in corresponding to the role and the safety protection of the data, so that the role enters a dormant (blocking) state from an operating state;
the role activation is used for realizing the re-wake of the plugin corresponding to the dormant role, so that the plugin enters the running state from the dormant (blocking) state;
the role switch is used for realizing dormancy of the previous role and loading of the plug-in corresponding to the new role;
B. role switching mechanism:
The method comprises the following steps of event triggering and event processing:
event triggering is used for generating an event triggering role switching;
Preferably, the generating the event triggering the role switch is making corresponding decisions and actions according to the observation and perception of the surrounding objects and the external environment by the role and the monitoring of the state information of the surrounding objects and the external environment by the role, and generating corresponding event messages to trigger the corresponding role switch through event processing.
Preferably, the events have priority.
Event processing is used for responding to the event;
Preferably, the method further comprises disabling the reaction of the monomer in the event of a loss of communication with the system.
C. Group organization management mechanism: for group management in response to the event.
Preferably, to improve the synchronicity of the task execution of the group unmanned system and enhance the task management capability, the method further comprises a synchronous role switching mechanism: synchronous role switching for multiple roles.
Preferably, the synchronous role switch of the multiple roles is implemented by setting a state sync word barrierKey.
Preferably, to improve flexibility of collaborative task management of the group unmanned system, task management capability is enhanced, and the method further comprises a branching and aggregation mechanism: the group fission for synchronously executing the task executes a plurality of subtasks for a plurality of sub-groups, and the execution of the continuous task is re-aggregated after the execution of the subtasks is finished.
Preferably, to improve flexibility of collaborative task management of the group unmanned system, human management capability of the unmanned system is improved, and the method further comprises an external assignment mechanism: the system is used for providing an instruction sent by the outside to the group unmanned system to realize human intervention.
Preferably, the sending instruction is implemented by generating the event and the event has the highest priority.
Advantageous effects
Compared with the prior art, the method has the following beneficial effects:
(1) Based on the control abstraction of the role, decoupling of the role and the unmanned platform is completed, and the role is combined with the robot algorithm module, so that the conversion from the role resource to the role capability is realized. Different roles need different resources in each link of the OODA cycle, different algorithms are adopted, different capacities are finally formed, and the design of the roles reflects the capacity of the unmanned system for adapting to the environment.
(2) The role scheduling mechanism uses plug-in description and gives different algorithms and capabilities to roles, provides relevant interfaces of role scheduling in the unmanned group based on the plug-in mounting/dismounting mechanism, comprises role playing, role activating, role dormancy, role switching and the like of the unmanned system, supports life cycle management of the roles, and provides support for management and scheduling of complex group behaviors of the unmanned system.
(3) The role switching mechanism is designed to provide an event triggering and event processing mechanism by considering information such as task demands, resource constraints, external environments, self states and the like, triggers role switching by using event messages, urges task execution by taking OODA (on-off data acquisition) circulation as a model, and provides guarantee for task coordination of unmanned system groups.
(4) The group organization management mechanism provides the capability of synchronously switching a plurality of unmanned platforms in a group from the same role to different roles or the capability of synchronously switching a plurality of unmanned platforms in a group from different roles to the same role by setting a state synchronous word. On the task level, the method realizes strong constraint on the conversion conditions and the synchronization requirements in the group roles and the group task flow, and ensures the high efficiency and the robustness of the collaborative management of the group unmanned system.
(5) The group organization management mechanism provides branching and aggregation functions based on event triggering, is oriented to group tasks with high complexity, high dynamic and high uncertainty, can support the group unmanned system to carry out effective group fission and aggregation collaborative task management in a group collaborative task flow, and improves the convenience of group intelligent behavior organization.
(6) The group organization management mechanism provides an external assignment mechanism for the user, and in the task execution of the group unmanned system, the user can directly send corresponding instructions to the group unmanned system to force the role switching, so that the cooperative intervention of the user on the group unmanned system is realized, and a related interface is provided for the autonomous task cooperation of the unmanned/unmanned system.
Drawings
FIG. 1 is a schematic diagram of a framework structure of a role-based collaborative task management method of a group unmanned system of the present invention;
FIG. 2 is a diagram of a barrierKey-based role sync switch in accordance with the method of the present invention;
FIG. 3 is a schematic diagram of group role branching and aggregation in accordance with the method of the present invention;
FIG. 4 is a schematic view of a role external assignment of the method of the present invention;
FIG. 5 is a schematic diagram of a task execution flow of a group of unmanned systems of the method of the present invention.
Detailed Description
In order to make the technical scheme of the present invention better understood by those skilled in the art, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
In order to make the technical solutions and advantages of the present examples more apparent, the following detailed description of exemplary embodiments of the present application is provided in conjunction with the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present application and not exhaustive of all embodiments. It should be noted that, without conflict, the examples of the present application may be combined with each other.
The unmanned platform is suitable for any artificial machine equipment capable of automatically running tasks, such as unmanned aerial vehicles, robots, floor sweeping machines, unmanned automobiles and the like.
Example 1
A role-based group unmanned system collaborative task management method, as shown in figure 1, comprises the following steps;
A. role scheduling mechanism:
In the group intelligent robot operating system, 4 scientific problems of 'autonomous observation and group perception, autonomous judgment and group cognition, autonomous decision and group game, autonomous action and group power' are used as traction, 4 links of 'observation (observe), judgment (orient), decision (decide) and action (act)' facing the OODA circulation are designed, an observation bus, a judgment bus, a decision bus and an action bus are designed, meanwhile, the concept of a role (Actor) is provided, and the function of the role is realized. The "role" is abstracted as: the robot completes one-time execution behavior of a given task, is a core concept of a group intelligent operation system, applies a role concept to group unmanned system control abstraction, and forms a role framework which becomes a basis for the group intelligent operation system to conduct unmanned system intelligent behavior management.
Aiming at the basic scheduling unit of the role, the group unmanned system collaborative task management method based on the role realizes a role scheduling mechanism. The scheduling mechanism uses plug-ins to describe and endow different algorithms and capabilities for roles, different plug-ins respectively belong to different buses (observation, judgment, decision and action) according to functions, and based on the mounting/unloading of different plug-ins under the buses, relevant interfaces for role scheduling in an unmanned group are provided, and the relevant interfaces comprise function scheduling interfaces such as unmanned system role playing, role activating, role dormancy and role switching, so that the role plug-in based mounting/unloading mechanism is the basis of role scheduling. And the role scheduling mechanism supports the life cycle management of roles and provides support for the management and scheduling of complex group behaviors of the unmanned system.
The role playing is used for loading the plug-in unit corresponding to the role, completing the binding of the role and hardware such as robots, sensors and the like, and realizing resource allocation and algorithm energization;
the role dormancy is used for realizing the safety pause of the role corresponding to the plug-in group and the safety protection of data, so that the role enters a dormant (blocking) state from an operation state;
Role activation is used for realizing the re-awakening of the plug-in group corresponding to the dormant role, so that the plug-in group enters an operation state from a dormant (blocking) state, and waits for the dispatching of the group intelligent robot operating system micROS;
the role switch is used for realizing the dormancy of the previous role and the loading of the plug-in group corresponding to the new role, completing the rebinding of the new role and the hardware such as the robot, the sensor and the like, and realizing the redistribution of resources and the re-enabling of the algorithm.
Through the above-mentioned design of classifying the plug-ins according to functions, the plug-ins can be greatly improved in reusability by the design of being classified into different buses, and the role range obtained by combining the plug-ins on different buses.
Of course, the plug-in for four links facing the OODA may be implemented by adopting the above-mentioned set of plug-ins, or may be implemented by placing four link functions in one plug-in, or may be implemented by adopting a mode for not facing the four link functions of the OODA, such as defining a complete function of a role: sweeping floor, wiping windows, etc. The loading of the plug-ins may be accomplished by enabling thread groups of the corresponding plug-ins. The uninstallation of the plug-ins may be implemented in a manner that ends the thread groups of the corresponding plug-ins.
B. role switching mechanism:
The method comprises the following steps of event triggering and event processing:
Event triggering is used for generating an event triggering role switching; such as a role a to role B event.
The event for triggering the role switch can be that the role makes corresponding decisions and actions according to the observation and perception of surrounding objects and external environments (such as vision, touch sense, electromagnetism and the like) and the monitoring of self state information (such as position, electric quantity, sensor state and the like), and generates corresponding event messages to trigger corresponding role switch through event processing.
The events may have different priorities, just as things that a human being handles need to distinguish between importance, so that the unmanned system can support first responding to and processing a trigger event with a high priority.
Event processing is used to respond to the trigger event.
And the group intelligent robot operating system (group unmanned system) processes the triggering event according to the received triggering event according to the priority, and realizes the scheduling of the roles based on the role scheduling mechanism, so as to promote the task execution taking the OODA cycle as a model. The single role can respond to various types of trigger events so as to support the switching of the single role to different roles.
C. Group organization management mechanism: for group management in response to the event.
Preferably, the method further comprises a failure process for reacting the monomer in case of a loss of connection with the system to ensure robustness of task execution. For the group unmanned system, the event message is shared in the group, and a plurality of monomers respond to the event, so that the order of task execution is ensured, and the event message is realized through a group organization management mechanism. If the event that 5A roles are switched to B roles is caused, the existing 10A roles meeting the switching conditions apply for switching to B roles to finish tasks, and the unmanned system of which 5A roles is specifically selected to switch to execute the B roles is realized through group organization management, such as a voting mechanism, a first-come first-get mechanism and the like.
Scene 1: there are 100 robots in a group, wherein 30 robots are used as A roles and are executing S tasks, 50 robots are used as B roles and are executing R tasks, 20 robots are used as C roles and are executing Y tasks, 1B role finds out targets, according to the role switching mechanism, 20A roles are judged to be required to be converted into D roles and execute F tasks according to the found targets, 20A toD events are triggered, 100 robots in the group all receive the events and process the events, 30A role robots all register and convert into D roles and execute F tasks, at this time, the registered A role robots are selected through the group organization management mechanism, finally 20 robots are selected to convert the A toD roles, and the selected robots finish switching to the D roles and execute F tasks through the role switching calling interface through the role scheduling mechanism. If 19 robots among the 20 robots are successfully completed in the preset time, but 1 robot K is not completed and is not connected with other robots in the group, the group organization management mechanism selects 1 robot from the other 10 robots which register to perform role switching, and the newly selected robot completes the role switching from A to D through a role switching calling interface. The robot K executes the invalidation process, and the following is executed according to a preset process flow: or stopping the role switching, and still executing the S task as the role A; or the task D is forcedly switched to execute the task F; or to a role L in the case of a predefined failure, performing an M task, such as returning to the camping.
In summary, roles are basic scheduling units of the group unmanned system, different roles bind different plug-in groups, different algorithms are operated, and different functions are realized. Through a role scheduling mechanism, based on the mounting/unloading of different plug-ins, relevant interfaces of role scheduling in an unmanned group are provided, and the relevant interfaces comprise function scheduling interfaces such as unmanned system role playing (binding), role activating, role dormancy, role switching and the like. Through a role switching mechanism: the system responds and processes the generated trigger event and realizes the switching among different roles based on a role scheduling mechanism, thereby prompting the task execution taking the OODA cycle as a model. Through a role group organization management mechanism, the orderly autonomy of the group unmanned system is realized. Therefore, the invention can realize group intelligence by organically combining the role scheduling mechanism, the role switching mechanism and the role group organization management mechanism.
Example 2
In order to improve the synchronicity of the task execution of the group unmanned system and enhance the task management capability, the method of embodiment 1 may further include a synchronous role switching mechanism: synchronous role switching for multiple roles. The synchronous role switching mechanism can realize the function of synchronously switching a plurality of unmanned systems in a group from one role to another role and the function of synchronously switching a plurality of unmanned systems in a group from different roles to another role, and in the task level, the switching conditions and the synchronous requirements in the group role and group cooperative task flow are strongly constrained, so that the high efficiency and the robustness of the group unmanned system cooperative management are ensured.
There are many ways to achieve synchronization, such as mutex, semaphore, critical section. For this example, by setting the status sync word barrierKey, synchronous switching of multiple different roles is achieved. barrierKey is a state synchronization word, which is used as a global synchronization identifier of the group unmanned system, supports synchronization of a plurality of identical roles and different roles, has a value range of 1-63, is set according to the requirement, and when a plurality of switching events set the identical synchronization word, if the roles generate the switching event, the group intelligent robot operating system waits at a synchronization point until confirming that the designated number of roles generate the switching event, and each corresponding robot continues to execute corresponding state transfer operation. If the synchronous waiting time is overtime, if a failure processing mode is set by the system, performing failure processing; otherwise, no role scheduling is performed.
Referring to fig. 2, fig. 2 is a schematic diagram of a role synchronization switching scenario based on barrierKey. Assuming that the group unmanned system is composed of 10 unmanned aerial vehicles, 5 unmanned aerial vehicles play an A role, 2 unmanned aerial vehicles play a B role, 3 unmanned aerial vehicles play a C role, and after a period of time, the 10 unmanned aerial vehicles need to be synchronously transformed into 5 unmanned aerial vehicles D roles and 5 unmanned aerial vehicles E roles according to task requirements or external environments. The system receives AtoD, btoE, ctoE trigger events sent by roles or ground stations in the group, the state sync word barrierKey of the three trigger events is 5, in the process of processing the three trigger events, through the group organization management mechanism, a synchronization point is set according to barrierKey, after receiving one trigger event (supposing that an AtoD event is first received), all other trigger events (BtoE and CtoE events) with the same barrierKey are continued to wait until all trigger events are received, that is, after receiving a message that all unmanned aerial vehicles reach the synchronization point, synchronous switching from role a to role D (5 frames), role B to role E (2 frames) and role C to role E (3 frames) is performed based on the role scheduling mechanism.
Example 3
In order to improve flexibility of collaborative task management of the group unmanned system and enhance task management capability, the method of embodiment 1 further includes a branching and aggregation mechanism: the group fission for synchronously executing the task executes a plurality of subtasks for a plurality of sub-groups, and the execution of the continuous task is re-aggregated after the execution of the subtasks is finished. When the group branches and is split into a plurality of sub-groups, the system performs group management according to the states of all members in the sub-groups so as to perform group task coordination.
As shown in fig. 3, fig. 3 is a schematic diagram of a group role branching and aggregation scenario. Taking a group unmanned system for executing a group cooperative task as an example, 15 unmanned aerial vehicles play a role to form a formation for flying, triggering corresponding events and carrying out synchronous branch switching on event processing when a target is found, so as to realize the fission of the group, 2 unmanned aerial vehicles are switched from the role A to the role B, 8 unmanned aerial vehicles are switched from the role A to the role C, and the group is divided into 5 unmanned aerial vehicle formations of the role A, 2 unmanned aerial vehicle formations of the role B and 8 unmanned aerial vehicle formations of the role C. Meanwhile, the branch and aggregation mechanism performs group organization management on two new formations, performs voting and election according to the states of all members in the group, and selects each new Leader of each formation so as to perform group task coordination. After a period of time, the unmanned aerial vehicle with the 2-frame B roles and the 8-frame C roles finishes task execution, is switched to the A roles again based on a synchronous switching mechanism, and is converged into the original group. The branching and aggregation mechanism based on event triggering can support the group unmanned system to effectively perform group fission and aggregation in a group cooperative task flow, and improve the convenience of group organization structure management.
Example 4
In order to improve the flexibility of collaborative task management of the group unmanned system and improve the human management capability of the unmanned system, the method in embodiment 1 further includes an external assignment mechanism: the system is used for providing an instruction sent by the outside to the group unmanned system to realize human intervention. And 4 links of observation (observe), judgment (orient), decision (decide) and action (act) are observed between the manned system and the unmanned system, so that independent and autonomous behavior management is performed, interaction is performed in a spontaneous equal mode, and group intelligence is realized. The group unmanned system receives the external instruction of the user, comprehensively utilizes the methods of triggering event priority list, role forced start and stop, effective data storage and the like, completes the safe forced switching or other operations of the roles, realizes the cooperative intervention of the user on the group unmanned system, and provides a relevant interface for the autonomous task cooperation of the unmanned/unmanned system.
Preferably, the sending instruction is realized by generating the event with the highest priority, the system processes the event instruction sent by the user preferentially, and performs timely backup, resource destruction and memory release on related data of the running role, so as to perform group task collaborative management.
Referring to fig. 4, fig. 4 is a schematic view of an external designation scenario. And the 15 unmanned aerial vehicles play the role A to execute the task, an external user sends an external appointed event of group return to the group unmanned aerial vehicles according to the task requirement, a group intelligent robot operating system installed on each unmanned aerial vehicle receives the trigger event, and relevant data of the current role A is saved according to the event priority, and the current role A is synchronously switched to the role E to realize group return.
Example 5
Fig. 5 shows a complete flow chart of the performance of a group task in a group unmanned system. At the beginning of the task, all unmanned planes in the system firstly realize the S role playing of 15 unmanned planes through a role scheduling mechanism, a role migration event is generated in the execution process of the S role task, and in the processing process of the event, the 15 unmanned planes are switched from the S role to the A role based on a role switching interface of the role scheduling mechanism. When a branch trigger event is generated under the action of factors such as external environment change (e.g. a role discovers a target), namely 15 roles A are split into 5 roles A, 2 roles B and 8 roles C events, based on a group organization management mechanism, each unmanned platform completes the switching of the roles of the unmanned platform based on a role scheduling mechanism through the processing of the event. At this time, the system layer shows that 5 roles A, 2 roles B and 8 roles C execute the roles A, B and C sub-group tasks respectively, and after the execution of each sub-task is finished, an aggregation event is generated; then, 5A roles, 2B roles and 8C roles realize synchronous switching to the A roles by processing aggregation trigger events under the support of a group organization management mechanism and a synchronous role switching mechanism, for example, the roles are switched through a role switching interface of a role scheduling mechanism, for example, ctoA, then the roles are suspended through a role dormancy interface, and after all the roles reach a synchronous point, the roles are woken up to run through a role activation interface so as to continue to execute the group task of the A roles. Finally, the user sends an external task instruction in an emergency, the A role receives an external group return trigger event (with the highest priority), the A role is switched to the E role to execute a return task through role switching by processing the event, and then the task is ended.
Those skilled in the art will recognize that the above embodiments merely provide preferred embodiments in different scenarios, and are not limited thereto, and that the content of the different embodiments may be combined in various ways to achieve more complex tasks.
In summary, the implementation of role functions defined by the plug-in is microscopically based on the implementation of group tasks, and the event generated by the operation of the plug-in is used as traction to trigger the role switching based on the event, so that the task change and the execution based on the external environment change or the internal state change are macroscopically shown, the system is integrally shown as an intelligent group which can be adjusted and adapted to the external environment autonomously, and the system is enabled to improve the capability of processing complex tasks by synchronizing role switching, branching and aggregation and external assignment mechanisms, so that the problem that the unmanned group system realizes tasks according to the dynamic organization, dynamic configuration and autonomous cooperation of the tasks is solved, and the intelligence, autonomy and convenience of the unmanned group system in the heterogeneous group system organization are improved. The heterogeneous group can show that different types of unmanned platforms exist in the group, such as ground obstacle removers, multi-rotor unmanned aerial vehicles, fixed-wing unmanned aerial vehicles, logistics robots and the like, and the different types of unmanned platforms can finish different role tasks by loading different plug-ins and realize switching of different roles by processing different events.
Of course, those skilled in the art will recognize that the above three mechanism partitions are only one logical partition, and any method or system including all the functions of the above three mechanisms should be considered as falling within the scope of the present invention even if the logical partitions are different.
The foregoing description of specific embodiments has been presented for the purpose of illustrating the principles and embodiments of the present application. It will be appreciated by persons skilled in the art that the present application is not limited to the preferred embodiments described above, and that various other forms of products may be made by anyone in light of the present application, however, any changes in shape or construction may be made, and all such modifications as to the shape or construction of the same or similar embodiments of the present application are intended to fall within the scope of the present application.
Claims (7)
1. The group unmanned system collaborative task management method based on the roles is characterized by comprising the following steps of:
A. role scheduling mechanism:
The roles are basic scheduling units;
Describing and giving different capabilities to roles by using plug-ins;
Based on the mounting/unloading of the plug-in, the switching of different roles is realized;
Providing a relevant interface for the color scheduling in the unmanned group;
B. role switching mechanism:
the method comprises the following steps of event triggering and event processing: event triggering is used for generating an event triggering role switching; event processing is used for responding to the event;
C. Group organization management mechanism: group management for responding to the event;
the method comprises the following steps of: synchronous role switching for multiple roles; the synchronous role switching of the multiple roles is realized by setting a state synchronous word;
And branching and aggregation mechanisms: the group fission for synchronously executing the task executes a plurality of subtasks for a plurality of sub-groups, and the execution of the continuous task is re-aggregated after the execution of the subtasks is finished.
2. The method of claim 1, wherein the associated interfaces include role playing, activating, dormancy, and switching;
Role playing is used for realizing loading of the role corresponding plug-in;
The role dormancy is used for realizing the safety pause of the plug-in corresponding to the role and the safety protection of the data, so that the role enters a dormancy state from an operation state;
The role activation is used for realizing the re-awakening of the plug-in corresponding to the dormant role, so that the plug-in enters the running state from the dormant state;
The role switch is used for realizing dormancy of the previous role and loading of the corresponding plug-in of the new role.
3. The method of claim 1, wherein the generating the event triggering the role switch is making a corresponding decision and action according to the observation and perception of the surrounding objects and the external environment by the role and the monitoring of the state information thereof, generating a corresponding event message to trigger the corresponding role switch through the event processing.
4. The method of claim 1, wherein the event has a priority.
5. The method of claim 1, further comprising disabling the process for the reaction of the monomer in the event of a loss of communication with the system.
6. The method of any one of claims 1-5, further comprising an external assignment mechanism: the system is used for providing an instruction sent by the outside to the group unmanned system to realize human intervention.
7. The method of claim 6, wherein the sending the instruction is accomplished by generating the event and the event has a highest priority.
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| US20230032760A1 (en) * | 2021-08-02 | 2023-02-02 | Bear Robotics, Inc. | Method, system, and non-transitory computer-readable recording medium for controlling a serving robot |
| CN115473934A (en) * | 2022-08-04 | 2022-12-13 | 广州市明道文化产业发展有限公司 | Multi-role decentralized and centralized text travel information pushing method and device based on event triggering |
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