CN111367277A - Task implementation method and system for mobile robot - Google Patents
Task implementation method and system for mobile robot Download PDFInfo
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- CN111367277A CN111367277A CN202010140721.8A CN202010140721A CN111367277A CN 111367277 A CN111367277 A CN 111367277A CN 202010140721 A CN202010140721 A CN 202010140721A CN 111367277 A CN111367277 A CN 111367277A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
Abstract
The invention relates to the field of robots, in particular to a task implementation method and system of a mobile robot. The method comprises the following steps: each intelligent agent receives at least one target task in a preset mode; integrating target tasks of all agents to form a task pool; and the mobile robot obtains the optimal task from the task pool according to the task information of the target task. The invention provides a task implementation method and a system of a mobile robot, wherein the mobile robot can autonomously select an optimal task in a mode of combining far-field communication and near-field communication, a central controller is not needed for scheduling, task omission caused by network problems can be avoided, and meanwhile the working efficiency of the mobile robot is improved.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of robots, in particular to a task implementation method and system of a mobile robot.
[ background of the invention ]
With the development of the technology, the service mobile robot can help people to complete simple and repetitive work tasks, such as the work of material transfer on the same floor and across floors, the work of night patrol in buildings, or the work of welcoming guests and welcoming guests in entertainment places such as hotels and KTVs, so that the work content of the personnel such as dish passers, couriers, security personnel and welcomes is reduced, and the personnel units are helped to save manpower. When the mobile robot in the prior art completes the work tasks, the problems of untimely task receiving or unreasonable task distribution and the like often occur, especially when the work tasks are more, the work efficiency of the robot is affected, and the wide application of the mobile robot in the field is also limited.
[ summary of the invention ]
The invention provides a task implementation method and a task implementation system for a mobile robot, and solves the technical problems that the task allocation is unreasonable and the working efficiency of the robot is low.
The technical scheme for solving the technical problems is as follows: a task implementation method of a mobile robot comprises the following steps:
step 1, each intelligent agent receives at least one target task in a preset mode;
step 2, integrating target tasks of all agents to form a task pool;
and 3, the mobile robot obtains the optimal task from the task pool according to the task information of the target task.
In a preferred embodiment, the agent comprises a robot and/or a storage cabinet; the method for receiving at least one target task by the intelligent agent in a preset mode specifically comprises the following steps: the intelligent agent receives at least one target task sent by the mobile equipment through the Internet; and/or a control panel and/or a voice input device are integrated on the agent, and at least one target task is received through the control panel and/or the voice input device.
In a preferred embodiment, the task information comprises a target task type, a destination, a projected power consumption, a task urgency and/or an exclusivity.
In a preferred embodiment, the target task type includes a delivery task, a cruise security task, and/or an offer task.
In a preferred embodiment, the integrating the target tasks of all the agents to form the task pool specifically includes the following steps:
step 201, if a far field communication network exists currently, the intelligent agent sends each target task of the at least one target task to a cloud server; if the far-field communication network does not exist or is not communicated, the intelligent agent stores all target tasks and sends each target task to the cloud server when the far-field communication network is recovered to be normal;
step 202, the cloud server acquires all target tasks and establishes a task pool.
In a preferred embodiment, the method for picking up the optimal task from the task pool by the mobile robot according to the task information of the target task specifically comprises the following steps:
the cloud server broadcasts each target task of the task pool;
and the mobile robot monitors the target tasks broadcast by the cloud server, picks up the optimal tasks from the current task pool according to the task information of the target tasks, and finishes all picked-up tasks according to the sequence of the urgency degree from high to low.
In a preferred embodiment, the method for picking up the optimal task from the task pool by the mobile robot according to the task information of the target task specifically comprises the following steps:
any robot receives all target tasks in a task pool sent by a cloud server through a far-field communication network, and in the moving process, all the target tasks are notified to each passing intelligent agent through the near-field communication network, and each intelligent agent receives and stores all the target tasks in the task pool;
and the mobile robot picks up the optimal task from a task pool stored by the mobile robot according to the task information of the target task and finishes all picked-up tasks according to the sequence of the urgency degree from high to low.
In a preferred embodiment, the far-field communication network comprises a mobile communication network, a WIFI communication network and/or an internet of things communication network; the near field communication network comprises any one or more of a 2.4G network, a Bluetooth network, an RFID network, an NFS network, a ZigBee network, a UWB network and an LIFI network.
A second aspect of embodiments of the present invention provides a task implementation system for a mobile robot, including a cloud server, the mobile robot, and at least one agent,
each agent is used for receiving at least one target task in a preset mode;
the cloud server is used for integrating target tasks of all the agents to form a task pool;
and the mobile robot is used for picking up the optimal task from the task pool according to the task information of the target task.
In a preferred embodiment, the agent comprises a robot and/or a storage cabinet; the method for receiving at least one target task by the intelligent agent in a preset mode specifically comprises the following steps: the intelligent agent receives at least one target task sent by the mobile equipment through the Internet; and/or a control panel and/or a voice input device are integrated on the agent, and at least one target task is received through the control panel and/or the voice input device.
The invention provides a task implementation method and a task implementation system of a mobile robot, which particularly have the following beneficial effects:
(1) a task pool including all tasks is established, so that the task omission can be avoided in the process of completing the tasks, and the working accuracy of the mobile robot is improved;
(2) the mobile robot can autonomously select the optimal task in a mode of combining far-field communication and near-field communication, a central controller is not needed for scheduling, task omission caused by network problems can be avoided, and meanwhile the working efficiency of the mobile robot is improved.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart illustrating a task implementation method of a mobile robot according to embodiment 1;
fig. 2 is a schematic structural diagram of a task implementation system of a mobile robot provided in embodiment 2.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is a schematic flowchart of a task implementation method of a mobile robot provided in embodiment 1, and as shown in fig. 1, the method includes the following steps:
step 1, each intelligent agent receives at least one target task in a preset mode. In this embodiment, the agent comprises at least one mobile robot and/or a storage cabinet. The intelligent agent can receive at least one target task sent by the mobile equipment through the Internet; and/or a control panel and/or a voice input device are integrated on the agent, and at least one target task is received through the control panel and/or the voice input device. Specifically, tasks can be issued to the mobile robot or the storage cabinet through mobile intelligent devices such as a computer mobile phone and the like by means of the internet, tasks are issued to the mobile robot through an App application on a screen of the mobile robot, tasks are issued to the storage cabinet through the App application on a screen of a cabinet body of the storage cabinet, tasks are issued to the robot through a microphone of the mobile robot in a voice mode or tasks are issued to an intelligent body through a microphone of the cabinet body of the storage cabinet in a voice mode, and the like, so that the mobile robot is controlled to complete delivery tasks, tour security tasks and/or pick-up tasks and the like.
The delivery task in this embodiment means that the mobile robot uses its own storage module, mobile control module, and article grabbing module to complete a material delivery task between a storage cabinet and a robot, between a storage cabinet and a storage cabinet, or between a robot and a robot. The tour security task refers to a tour task which is completed by the mobile robot by utilizing a mobile control module and an identification module of the mobile robot. The reception task is a mobile task which is completed by the mobile robot by utilizing a self mobile control module.
And 2, integrating the target tasks of all the agents to form a task pool. The task pool may be established on a cloud server, a storage cabinet, and/or a mobile robot. Specifically, forming the task pool includes the steps of:
step 201, if a far field communication network exists currently, the intelligent agent sends each target task of the at least one target task to a cloud server; if the far-field communication network does not exist or is not communicated, the intelligent agent stores all target tasks and sends each target task to the cloud server when the far-field communication network is recovered to be normal;
step 202, the cloud server acquires all target tasks and establishes a task pool.
And then, executing the step 3, and the mobile robot draws the optimal task from the task pool according to the task information of the target task. When a far-field communication network exists, the mobile robot picks up the optimal task and comprises the following steps:
s301, broadcasting each target task of the task pool by the cloud server;
s302, the mobile robot monitors the target tasks broadcast by the cloud server to obtain all the target tasks in the task pool, then picks up the optimal tasks from the current task pool according to the task information of the target tasks, and finishes all the picked-up tasks according to the sequence from high urgency to low urgency.
In other embodiments, the mobile robot picking up the optimal task further comprises the steps of:
s304, any robot receives all target tasks in the task pool sent by the cloud server through a far-field communication network, and in the moving process, all the target tasks are notified to each passing intelligent agent through a near-field communication network, so that all the target tasks in the task pool are stored in each intelligent agent, such as other robots or storage cabinets;
s305, the mobile robot picks up the optimal task from a task pool stored by the mobile robot according to the task information of the target task and finishes all picked-up tasks according to the sequence of the urgency degree from high to low.
In a preferred embodiment, the far-field communication network comprises a mobile communication network, a WIFI communication network and/or an internet of things communication network; the near field communication network comprises any one or more of a 2.4G network, a Bluetooth network, an RFID network, an NFS network, a ZigBee network, a UWB network and an LIFI network. The task information includes target task type, destination distance, expected power consumption, task urgency and/or exclusivity (specifying a mobile robot with a specific number), and the like, and the mobile robot can sort all target tasks according to any one of the factors or all the factors, so as to select the most reasonable optimal task. For example, a mobile robot having a storage module, a movement control module, and an article grasping module preferentially selects a delivery task, and a mobile robot with a lower current power preferentially selects a target task expected to consume the least power. In the process of completing the task, tasks can be exchanged between mobile robots executing non-delivery tasks, for example, between robots executing an inspection task or a lead task, and the mobile robots do not accept new tasks after starting to execute the tasks, so that the task execution efficiency is improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 2 is a schematic structural diagram of a task implementation system of a mobile robot provided in embodiment 2, as shown in fig. 2, including a cloud server 200, a mobile robot 300 and at least one agent 100,
each agent 100 is configured to receive at least one target task in a preset manner;
the cloud server 200 is used for integrating target tasks of all the agents to form a task pool;
the mobile robot 300 is configured to retrieve an optimal task from the task pool according to task information of the target task.
In a preferred embodiment, the agent 300 comprises a robot and/or a storage cabinet; the method for receiving at least one target task by the intelligent agent in a preset mode specifically comprises the following steps: the intelligent agent receives at least one target task sent by the mobile equipment through the Internet; and/or a control panel and/or a voice input device are integrated on the agent, and at least one target task is received through the control panel and/or the voice input device.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.
Claims (10)
1. A task implementation method of a mobile robot is characterized by comprising the following steps:
step 1, each intelligent agent receives at least one target task in a preset mode;
step 2, integrating target tasks of all agents to form a task pool;
and 3, the mobile robot obtains the optimal task from the task pool according to the task information of the target task.
2. A task realization method of a mobile robot according to claim 1, characterized in that the agent comprises a robot and/or a storage cabinet; the method for receiving at least one target task by the intelligent agent in a preset mode specifically comprises the following steps: the intelligent agent receives at least one target task sent by the mobile equipment through the Internet; and/or a control panel and/or a voice input device are integrated on the agent, and at least one target task is received through the control panel and/or the voice input device.
3. The method of claim 1, wherein the task information includes a target task type, a destination, a predicted power consumption, a task urgency, and/or an exclusivity.
4. The task realization method of a mobile robot according to claim 3, wherein the target task type includes a delivery task, a tour security task, and/or an offer task.
5. A task realization method of a mobile robot according to any of claims 1-4, characterized in that the task pool formation of the target tasks integrating all agents specifically comprises the following steps:
step 201, if a far field communication network exists currently, the intelligent agent sends each target task of the at least one target task to a cloud server; if the far-field communication network does not exist or is not communicated, the intelligent agent stores all target tasks and sends each target task to the cloud server when the far-field communication network is recovered to be normal;
step 202, the cloud server acquires all target tasks and establishes a task pool.
6. The method for realizing the task of the mobile robot according to claim 5, wherein the mobile robot obtains the optimal task from the task pool according to the task information of the target task by:
the cloud server broadcasts each target task of the task pool;
and the mobile robot monitors the target tasks broadcast by the cloud server, picks up the optimal tasks from the current task pool according to the task information of the target tasks, and finishes all picked-up tasks according to the sequence of the urgency degree from high to low.
7. The method for realizing the task of the mobile robot according to claim 5, wherein the mobile robot obtains the optimal task from the task pool according to the task information of the target task by:
any robot receives all target tasks in a task pool sent by a cloud server through a far-field communication network, and in the moving process, all the target tasks are notified to each passing intelligent agent through the near-field communication network, and each intelligent agent receives and stores all the target tasks in the task pool;
and the mobile robot picks up the optimal task from a task pool stored by the mobile robot according to the task information of the target task and finishes all picked-up tasks according to the sequence of the urgency degree from high to low.
8. The task implementing method of the mobile robot according to claim 7, wherein the far-field communication network comprises a mobile communication network, a WIFI communication network and/or an Internet of things communication network; the near field communication network comprises any one or more of a 2.4G network, a Bluetooth network, an RFID network, an NFS network, a ZigBee network, a UWB network and an LIFI network.
9. A task implementation system of a mobile robot is characterized by comprising a cloud server, the mobile robot and at least one intelligent agent,
each agent is used for receiving at least one target task in a preset mode;
the cloud server is used for integrating target tasks of all the agents to form a task pool;
and the mobile robot is used for picking up the optimal task from the task pool according to the task information of the target task.
10. A task realization system of a mobile robot according to claim 9, characterized in that the agent comprises a robot and/or a storage cabinet; the method for receiving at least one target task by the intelligent agent in a preset mode specifically comprises the following steps: the intelligent agent receives at least one target task sent by the mobile equipment through the Internet; and/or a control panel and/or a voice input device are integrated on the agent, and at least one target task is received through the control panel and/or the voice input device.
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| CN113156951A (en) * | 2021-04-22 | 2021-07-23 | 深圳优地科技有限公司 | Task transmission method, device, equipment and storage medium |
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