CN112388625A - Task issuing method and device and task executing method and device - Google Patents
Task issuing method and device and task executing method and device Download PDFInfo
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- CN112388625A CN112388625A CN201910755791.1A CN201910755791A CN112388625A CN 112388625 A CN112388625 A CN 112388625A CN 201910755791 A CN201910755791 A CN 201910755791A CN 112388625 A CN112388625 A CN 112388625A
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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Abstract
The invention provides a task issuing method and device, a task executing method and device, a server, a robot, a storage medium and an electronic device, wherein the task issuing method comprises the following steps: acquiring indication information, wherein the indication information carries an execution task to be issued to a robot for execution; splitting the execution task into at least two task blocks based on execution attributes of each execution stage included in the execution task; and issuing the at least two task blocks to the robot so as to instruct the robot to sequentially execute the at least two task blocks according to the execution sequence of the at least two task blocks. By the method and the device, the problem that the efficiency of the robot for executing the task is low in the related technology is solved.
Description
Technical Field
The invention relates to the field of communication, in particular to a task issuing method and device, a task executing method and device, a server, a robot, a storage medium and an electronic device.
Background
In the related art, the task issued by the server to the robot is a complete task, and the robot is considered to complete the task only after the robot successfully completes the complete task. Since some tasks are too cumbersome, the robot may have an error in a certain link of performing the task, thereby failing to complete the entire task successfully. This may cause the robot to perform unnecessary processing, reducing the efficiency with which the robot performs tasks.
Aiming at the problem of low efficiency of the robot to execute tasks in the related art, no effective solution is provided at present.
Disclosure of Invention
The embodiment of the invention provides a task issuing method and device, a task executing method and device, a server, a robot, a storage medium and an electronic device, and at least solves the problem that the efficiency of executing tasks by the robot is low in the related technology.
According to an embodiment of the present invention, a task issuing method is provided, including: acquiring indication information, wherein the indication information carries an execution task to be issued to a robot for execution; splitting the execution task into at least two task blocks; and issuing at least two task blocks to the robot based on the execution attributes of each execution stage included in the execution task so as to instruct the robot to execute the at least two task blocks in sequence according to the execution sequence of the at least two task blocks.
According to an embodiment of the present invention, there is also provided a method for executing a task, including: receiving at least two task blocks from a server, wherein the at least two task blocks are obtained by splitting an execution task based on execution attributes of each execution stage included in the execution task after the server acquires instruction information carrying the execution task; and sequentially executing at least two task blocks according to the execution sequence of the at least two task blocks.
According to an embodiment of the present invention, there is also provided a task issuing device, including: the acquisition module is used for acquiring indication information, wherein the indication information carries an execution task to be issued to the robot for execution; the splitting module is used for splitting the execution task into at least two task blocks based on the execution attribute of each execution stage included in the execution task; and the issuing module is used for issuing the at least two task blocks to the robot so as to instruct the robot to sequentially execute the at least two task blocks according to the execution sequence of the at least two task blocks.
According to an embodiment of the present invention, a server is further provided, which includes the above task issuing device.
According to an embodiment of the present invention, there is also provided a task execution device including: the system comprises a receiving module and a processing module, wherein the receiving module is used for receiving at least two task blocks from a server, and the at least two task blocks are obtained by splitting an execution task based on execution attributes of each execution stage in the execution task after the server acquires instruction information carrying the execution task; and the execution module is used for sequentially executing the at least two task blocks according to the execution sequence of the at least two task blocks.
According to an embodiment of the present invention, there is also provided a robot including the task performing apparatus described above.
According to a further embodiment of the present invention, there is also provided a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.
According to the invention, as the tasks to be executed are split, the robot can execute the split task blocks one by one, and then can execute the tasks only from the wrong task block after an error occurs, so that the robot is prevented from executing the whole executed task again, the task execution efficiency of the robot is effectively improved, and the problem of low task execution efficiency of the robot in the related technology is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a hardware configuration block diagram of a computer terminal of a processing method of a task of an embodiment of the present invention;
FIG. 2 is a flowchart of a task issuing method according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method of performing a task according to an embodiment of the invention;
fig. 4 is a block diagram illustrating a structure of a task issuing device according to an embodiment of the present invention;
fig. 5 is a block diagram of a structure of a task execution device according to an embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the present application may be executed in a mobile terminal, a computer terminal or a similar computing device. Taking an example of running on a computer terminal, fig. 1 is a hardware structure block diagram of a computer terminal of a task processing method, that is, a task issuing method or a task executing method according to an embodiment of the present invention. As shown in fig. 1, the computer terminal 10 may include one or more processors 102 and a memory 104 for storing data, wherein only one processor 102 is shown in fig. 1, and the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA. Optionally, the computer terminal may further include a transmission device 106 for communication function and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration and is not intended to limit the structure of the computer terminal. For example, the computer terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used for storing computer programs, for example, software programs and modules of application software, such as computer programs corresponding to the processing methods of the tasks in the embodiments of the present invention, and the processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, so as to implement the methods described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the computer terminal 10. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
Fig. 2 is a flowchart of a task issuing method according to an embodiment of the present invention, and as shown in fig. 2, the flowchart includes the following steps:
step S202, acquiring indication information, wherein the indication information carries an execution task to be issued to a robot for execution;
step S204, splitting the execution task into at least two task blocks based on the execution attribute of each execution stage included in the execution task;
step S206, issuing the at least two task blocks to the robot, so as to instruct the robot to sequentially execute the at least two task blocks according to the execution sequence of the at least two task blocks.
The server may perform the above operations, that is, the device for issuing the task to the robot. In the above embodiment, the indication information may be information input manually or information received from other devices, where the indication information carries an execution task to be executed by the robot, where the execution task carried in the indication information is a complete task that is not split, and after receiving the execution task, the server splits the execution task according to an actual situation, so that the robot executes each task block obtained after splitting. Wherein the task block at least comprises one execution stage of the execution task. When splitting is performed, the execution task may be split based on the execution attribute of each execution phase included in the execution task, for example, the execution task may be split based on closeness of each execution phase to the server, and the execution task may also be split based on the execution environment, the execution duration, or the integrity of each execution phase.
In the embodiment, as the tasks to be executed are split, the robot can execute the split task blocks one by one, and then can execute the tasks only from the wrong task block after an error occurs, so that the problem that the robot re-executes the whole executed task is avoided, the task execution efficiency of the robot is effectively improved, and the problem that the efficiency of the robot executing the tasks is low in the related technology is solved.
For each execution phase, the execution attribute at least comprises the compactness of the execution phase and the server. Wherein the affinity is used to indicate whether completion of an execution phase needs to be achieved based on an instruction issued by the server. In an optional embodiment, splitting the execution task into at least two task blocks based on the execution attributes of the execution phases included in the execution task includes: determining closeness of at least two execution phases included in the execution task with a server; splitting the execution task based on closeness of at least two of the execution phases to the server to obtain at least two of the task blocks. The closeness between the execution phase that needs to be completed based on the instruction issued by the server and the server is a first closeness, the closeness between the execution phase that does not need to be completed based on the instruction issued by the server and the server is a second closeness, and the closeness between the execution phase that needs to be completed based on the instruction issued by the server and the server may or may not be a third closeness. Optionally, splitting the execution task based on closeness of at least two of the execution phases to the server comprises: when the closeness of the adjacent first execution phase and the second execution phase with the server is determined to be different, dividing the first execution phase and the second execution phase into adjacent task blocks respectively. In the above embodiment, when splitting the execution task, some tasks that are not tightly bound to the server, i.e., tasks whose completion does not require an indication from the server, may be split. The following describes the present embodiment by taking the task as an example of a destination where the robot travels from the outside to a location at the fifth floor:
when the execution task is that the robot travels from the outdoor to the destination located in the fifth floor, the execution task may include the following execution stages:
stage 1: the robot runs to an elevator of the first floor from the outside;
and (2) stage: the robot waits at the elevator until the elevator reaches the first floor;
and (3) stage: the robot enters the elevator;
and (4) stage: the robot waits in the elevator until the elevator reaches the fifth floor;
and (5) stage: the robot is driven out of the elevator;
and 6: the robot travels from the elevator of the fifth floor to the destination.
The phase of being close to the server, namely the phase of being close to the server as the first tightness, is the phase 2-5, because the execution of the phase 2-5 is realized by the server of the robot issuing a corresponding command to the robot after the server of the robot interacts with the elevator system, and the phase 1 and the phase 6 can be completed by the robot alone. The closeness of phases 1 and 6 to the server may be a second closeness or a third closeness. Therefore, when the execution task is divided, the phase 1 can be divided into one task block, the phases 2 to 5 can be divided into one task block, and the phase 6 can be divided into one task block, so that the purpose of dividing the execution task into 3 task blocks can be achieved. In the above embodiment, the phase 1 and the phase 6 are actually task phases that are not closely related to the server, and in these two phases, the server may set a corresponding processing policy for the robot in advance, or the robot may pre-configure a corresponding processing policy, for example, a policy of passing through a gate, an obstacle avoidance policy during driving, and the like, so as to implement that the robot separately completes the tasks of the phase 1 and the phase 6.
In an optional embodiment, after at least two of the task blocks are issued to the robot, the method further includes: and receiving first state information which is reported by the robot and used for indicating the completion state of the task block. In the above embodiment, each time the robot completes one task block, the completion status of the task may be reported to the server, so that the server knows the task completion progress of the robot, and if the status information of a next task block is not received within a certain time after the status information of a certain task block is reported, it may be determined that a problem has occurred in the execution of the next task block, and then corresponding measures may be executed, for example, the robot may be instructed to execute the next task block again, or relevant maintenance personnel may be prompted to check the actual situation of the robot on site.
In an optional embodiment, after at least two of the task blocks are issued to the robot, the method further includes: and receiving second state information which is reported by the robot and used for indicating the self state of the robot. In this embodiment, the self-state of the robot may include an electric quantity of the robot and a position coordinate of the robot, and the self-state information may further include a current state of the robot, for example, a current navigation state and a current fault state after a fault occurs. The second status information may be reported in real time, or according to a predetermined reporting period, for example, reporting every 1s, reporting every 10 minutes, reporting every half hour, and so on. In addition, the second status information may also be reported together with the first status information. The reporting modes of the first state information and the second state information can be flexibly adjusted.
Fig. 3 is a flowchart of a task execution method according to an embodiment of the present invention, and as shown in fig. 3, the flowchart includes the following steps:
step S302, receiving at least two task blocks from a server, wherein the at least two task blocks are obtained by splitting an execution task based on execution attributes of each execution stage included in the execution task after the server acquires instruction information carrying the execution task;
step S304, at least two task blocks are executed in sequence according to the execution sequence of at least two task blocks.
Wherein, the robot can be used for executing the operation.
In the embodiment, the server splits the task to be executed, so that the robot can execute the split task blocks one by one, and then can execute the task only from the wrong task block after an error occurs, thereby avoiding the robot from executing the whole executed task again, effectively improving the task execution efficiency of the robot, and solving the problem of low task execution efficiency of the robot in the related art.
In an optional embodiment, after receiving at least two task blocks from the server, the method further comprises: determining a number of target execution stages within a first task block included in the at least two task blocks; when the number of the target execution stages is determined to be at least two, splitting the first task block to obtain at least two target subtasks respectively corresponding to the target execution stages; sequentially executing at least two of the task blocks according to the execution order of the at least two of the task blocks includes: and when the execution time for executing the first task block is reached, sequentially executing at least two target subtasks according to the execution sequence of the at least two target subtasks. In this embodiment, after receiving each task block, the robot may further split the task block, for example, the task block formed by the phases 2 to 5 in the foregoing embodiment may be further split, and split into 4 target subtasks again, and sequentially execute each target subtask in a logical order. In this embodiment, the completion status of each target subtask can also be reported to the server, so that the server can obtain the completion progress of a more detailed task, and when a problem occurs in task execution, a link with the problem is more quickly located.
In an optional embodiment, after receiving at least two task blocks from the server, the method further comprises: reporting first state information for indicating the completion state of the task block to the server; and reporting second state information used for indicating the self state of the robot to the server.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium, such as a ROM/RAM, a magnetic disk, or an optical disk, and includes instructions for enabling a terminal device, such as a mobile phone, a computer, a server, or a network device, to execute the method according to the embodiments of the present invention.
In this embodiment, a task issuing device and a task executing device are also provided, where the devices are used to implement the foregoing embodiments and preferred embodiments, and are not described again after being described. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 4 is a block diagram of a structure of a task issuing device according to an embodiment of the present invention, and as shown in fig. 4, the device includes:
the acquisition module 42 is configured to acquire indication information, where the indication information carries an execution task to be issued to the robot for execution; a splitting module 44, configured to split the execution task into at least two task blocks based on execution attributes of each execution phase included in the execution task; and the issuing module 46 is configured to issue the at least two task blocks to the robot, so as to instruct the robot to sequentially execute the at least two task blocks according to the execution sequence of the at least two task blocks.
In an alternative embodiment, the execution module 44 is configured to split the execution task into at least two task blocks based on the execution attribute of each execution phase included in the execution task, as follows: determining the closeness between at least two execution phases included in the execution task and a server, wherein the closeness is used for indicating whether the completion of the execution phases needs to be realized based on an instruction issued by the server, the closeness between the execution phases needing to be completed based on the instruction issued by the server and the server is a first closeness, and the closeness between the execution phases not needing to be completed based on the instruction issued by the server and the server is a second closeness; splitting the execution task based on closeness of at least two of the execution phases to the server to obtain at least two of the task blocks.
In an alternative embodiment, the execution module 44 is configured to split the execution task based on closeness of at least two of the execution phases to the server by: when the closeness of the adjacent first execution phase and the second execution phase with the server is determined to be different, dividing the first execution phase and the second execution phase into adjacent task blocks respectively.
In an optional embodiment, the task issuing device is further configured to perform at least one of the following operations: receiving first state information which is reported by the robot and used for indicating the completion state of the task block; and receiving second state information which is reported by the robot and used for indicating the self state of the robot.
In an optional embodiment, a server is further provided, and includes any one of the task issuing devices described above.
Fig. 5 is a block diagram of a structure of an apparatus for performing a task according to an embodiment of the present invention, as shown in fig. 5, the apparatus including:
a receiving module 52, configured to receive at least two task blocks from a server, where the at least two task blocks are obtained by splitting an execution task after the server obtains an instruction information carrying the execution task, based on an execution attribute of each execution stage included in the execution task; an executing module 54, configured to sequentially execute at least two of the task blocks according to an execution order of the at least two of the task blocks.
In an optional embodiment, the task execution device is further configured to, after receiving at least two task blocks from the server, determine a number of target execution phases within a first task block included in the at least two task blocks; when the number of the target execution stages is determined to be at least two, splitting the first task block to obtain at least two target subtasks respectively corresponding to the target execution stages.
In an alternative embodiment, the execution module 54 may sequentially execute at least two task blocks according to an execution order of the at least two task blocks by: and when the execution time for executing the first task block is reached, sequentially executing at least two target subtasks according to the execution sequence of the at least two target subtasks.
In an optional embodiment, the task execution device is further configured to, after receiving at least two task blocks from a server, report first state information indicating a completion state of the task blocks to the server; and reporting second state information used for indicating the self state of the robot to the server.
In an alternative embodiment, there is also provided a robot comprising a task performing apparatus as described in any of the above.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (13)
1. A task issuing method is characterized by comprising the following steps:
acquiring indication information, wherein the indication information carries an execution task to be issued to a robot for execution;
splitting the execution task into at least two task blocks based on execution attributes of each execution stage included in the execution task;
and issuing the at least two task blocks to the robot so as to instruct the robot to sequentially execute the at least two task blocks according to the execution sequence of the at least two task blocks.
2. The method of claim 1, wherein splitting the execution task into at least two task blocks based on execution properties of respective execution phases included in the execution task comprises:
determining the closeness of at least two execution phases included in the execution task and a server, wherein the closeness is used for indicating whether the completion of the execution phases needs to be realized based on an instruction issued by the server;
splitting the execution task based on closeness of at least two of the execution phases to the server to obtain at least two of the task blocks.
3. The method of claim 2, wherein splitting the execution task based on closeness of at least two of the execution phases to the server comprises:
when the closeness of the adjacent first execution phase and the second execution phase with the server is determined to be different, dividing the first execution phase and the second execution phase into adjacent task blocks respectively.
4. The method of claim 1, wherein after issuing at least two of the task blocks to the robot, the method further comprises at least one of:
receiving first state information which is reported by the robot and used for indicating the completion state of the task block;
and receiving second state information which is reported by the robot and used for indicating the self state of the robot.
5. A method for executing a task, comprising:
receiving at least two task blocks from a server, wherein the at least two task blocks are obtained by splitting an execution task based on execution attributes of each execution stage included in the execution task after the server acquires instruction information carrying the execution task;
and sequentially executing at least two task blocks according to the execution sequence of the at least two task blocks.
6. The method of claim 5,
after receiving at least two task blocks from the server, the method further comprises: determining a number of target execution stages within a first task block included in the at least two task blocks; when the number of the target execution stages is determined to be at least two, splitting the first task block to obtain at least two target subtasks respectively corresponding to the target execution stages;
sequentially executing at least two of the task blocks according to the execution order of the at least two of the task blocks includes: and when the execution time for executing the first task block is reached, sequentially executing at least two target subtasks according to the execution sequence of the at least two target subtasks.
7. The method of claim 5, wherein after receiving at least two task blocks from a server, the method further comprises:
reporting first state information for indicating the completion state of the task block to the server;
and reporting second state information used for indicating the self state of the robot to the server.
8. A task issuing device is characterized by comprising:
the acquisition module is used for acquiring indication information, wherein the indication information carries an execution task to be issued to the robot for execution;
the splitting module is used for splitting the execution task into at least two task blocks based on the execution attribute of each execution stage included in the execution task;
and the issuing module is used for issuing the at least two task blocks to the robot so as to instruct the robot to sequentially execute the at least two task blocks according to the execution sequence of the at least two task blocks.
9. A server, characterized in that it comprises the apparatus of claim 8.
10. An apparatus for executing a task, comprising:
the system comprises a receiving module and a processing module, wherein the receiving module is used for receiving at least two task blocks from a server, and the at least two task blocks are obtained by splitting an execution task based on execution attributes of each execution stage in the execution task after the server acquires instruction information carrying the execution task;
and the execution module is used for sequentially executing the at least two task blocks according to the execution sequence of the at least two task blocks.
11. A robot comprising the apparatus of claim 10.
12. A storage medium having a computer program stored thereon, wherein the computer program is arranged to perform the method of any of claims 1 to 4 when executed, or to perform the method of any of claims 5 to 7.
13. An electronic apparatus comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 4, or to perform the method of any of claims 5 to 7.
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| CN113867181A (en) * | 2021-09-27 | 2021-12-31 | 北京声智科技有限公司 | Robot cooperation method and device and first robot |
| CN114374681A (en) * | 2021-12-09 | 2022-04-19 | 达闼机器人有限公司 | Task execution method, device, equipment and storage medium |
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| CN114374681A (en) * | 2021-12-09 | 2022-04-19 | 达闼机器人有限公司 | Task execution method, device, equipment and storage medium |
| CN114374681B (en) * | 2021-12-09 | 2023-08-22 | 达闼机器人股份有限公司 | Task execution method, device, equipment and storage medium |
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