CN113821287B - Cell operation task processing method, device, equipment and medium based on robot - Google Patents
Cell operation task processing method, device, equipment and medium based on robot Download PDFInfo
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- CN113821287B CN113821287B CN202111040555.5A CN202111040555A CN113821287B CN 113821287 B CN113821287 B CN 113821287B CN 202111040555 A CN202111040555 A CN 202111040555A CN 113821287 B CN113821287 B CN 113821287B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/451—Execution arrangements for user interfaces
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/48—Program initiating; Program switching, e.g. by interrupt
- G06F9/4806—Task transfer initiation or dispatching
- G06F9/4843—Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/48—Program initiating; Program switching, e.g. by interrupt
- G06F9/4806—Task transfer initiation or dispatching
- G06F9/4843—Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
- G06F9/4881—Scheduling strategies for dispatcher, e.g. round robin, multi-level priority queues
Abstract
The application relates to the technical field of biology, and provides a cell operation task processing method, a cell operation task processing device, cell operation task processing equipment and cell operation task processing media based on a robot. The method and the device can ensure that the cell operation task is accurately and reliably executed. The method comprises the following steps: sending an assistance request aiming at the cell operation task to the task assistance terminal, displaying simulated operation information aiming at the cell operation task from the task assistance terminal, acquiring actual operation information input on a cell operation interface, controlling the robot to execute the cell operation task according to the actual operation information, and stopping the cell operation task from being executed by the task assistance terminal.
Description
Technical Field
The present application relates to the field of biotechnology, and in particular, to a cell manipulation task processing method and apparatus based on a robot, a computer device, and a storage medium.
Background
With the development of computer technology and control technology, the relevant user can perform cell operation tasks such as cell grabbing, placing and cleaning with the help of a robot by means of computer equipment. Specifically, human-computer interaction software can be configured on the computer equipment to provide functions of text display, graphic display, input and the like for a user, the user connects the computer equipment to the robot, and the robot can be controlled to execute corresponding cell operation tasks on the computer equipment by utilizing the human-computer interaction software.
The current cell manipulation task processing technology needs to depend on independent manipulation capability of operators for various cell manipulation tasks, but the cell manipulation tasks are various and complicated in steps, so that the technology is difficult to ensure that various cell manipulation tasks are accurately executed.
Disclosure of Invention
In view of the above, it is necessary to provide a cell manipulation task processing method, device, computer apparatus, and storage medium based on a robot.
A cell operation task processing method based on a robot is applied to a task execution terminal, and comprises the following steps:
sending an assistance request aiming at a cell operation task to a task assistance terminal;
displaying simulated operation information aiming at the cell operation task from the task assistance terminal;
acquiring actual operation information input on a cell operation interface;
controlling a robot to execute the cell operation task according to the actual operation information; the cell manipulation task may be stopped by the task assistance terminal.
A cell operation task processing method based on a robot is applied to a task assistance terminal, and comprises the following steps:
receiving an assistance request aiming at a cell operation task sent by a task execution terminal;
displaying an operation auxiliary interface aiming at the cell operation task according to the assistance request;
acquiring simulation operation information input in the operation auxiliary interface, and sending the simulation operation information to the task execution terminal for displaying by the task execution terminal;
providing a monitoring picture for monitoring the task execution terminal to control the robot to execute the cell operation task according to actual operation information; the actual operation information is input in a cell operation interface of the task execution terminal;
and when receiving an execution stopping instruction, controlling the robot to stop executing the cell operation task.
A cell operation task processing device based on a robot is applied to a task execution terminal and comprises:
the assistance request sending module is used for sending an assistance request aiming at a cell operation task to the task assistance terminal;
the simulated operation display module is used for displaying simulated operation information aiming at the cell operation task from the task assistance terminal;
the actual operation acquisition module is used for acquiring actual operation information input on the cell operation interface;
the operation task execution module is used for controlling the robot to execute the cell operation task according to the actual operation information; the cell manipulation task may be stopped by the task assistance terminal.
A cell operation task processing device based on a robot is applied to a task assistance terminal and comprises:
the cell operation task processing module is used for processing cell operation tasks sent by the task execution terminal;
the auxiliary interface display module is used for displaying an operation auxiliary interface aiming at the cell operation task according to the assistance request;
the simulation operation processing module is used for acquiring simulation operation information input in the operation auxiliary interface and sending the simulation operation information to the task execution terminal for displaying by the task execution terminal;
the monitoring picture providing module is used for providing a monitoring picture for monitoring the task execution terminal to control the robot to execute the cell operation task according to the actual operation information; the actual operation information is input in a cell operation interface of the task execution terminal;
and the stopping instruction processing module is used for controlling the robot to stop executing the cell operation task when receiving the stopping execution instruction.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
sending an assistance request aiming at a cell operation task to a task assistance terminal; displaying simulated operation information aiming at the cell operation task from the task assistance terminal; acquiring actual operation information input on a cell operation interface; controlling a robot to execute the cell operation task according to the actual operation information; the cell manipulation task may be stopped by the task assistance terminal.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
receiving an assistance request aiming at a cell operation task sent by a task execution terminal; displaying an operation auxiliary interface aiming at the cell operation task according to the assistance request; acquiring simulation operation information input in the operation auxiliary interface, and sending the simulation operation information to the task execution terminal for displaying by the task execution terminal; providing a monitoring picture for monitoring the task execution terminal to control the robot to execute the cell operation task according to actual operation information; the actual operation information is input in a cell operation interface of the task execution terminal; and when receiving an execution stopping instruction, controlling the robot to stop executing the cell operation task.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
sending an assistance request aiming at a cell operation task to a task assistance terminal; displaying simulated operation information aiming at the cell operation task from the task assistance terminal; acquiring actual operation information input on a cell operation interface; controlling a robot to execute the cell operation task according to the actual operation information; the cell manipulation task may be stopped by the task assistance terminal.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
receiving an assistance request aiming at a cell operation task sent by a task execution terminal; displaying an operation auxiliary interface aiming at the cell operation task according to the assistance request; acquiring simulation operation information input in the operation auxiliary interface, and sending the simulation operation information to the task execution terminal for displaying by the task execution terminal; providing a monitoring picture for monitoring the task execution terminal to control the robot to execute the cell operation task according to actual operation information; the actual operation information is input in a cell operation interface of the task execution terminal; and when receiving an execution stopping instruction, controlling the robot to stop executing the cell operation task.
According to the cell operation task processing method, the cell operation task processing device, the cell operation task processing equipment and the cell operation task processing medium based on the robot, the task execution terminal sends an assistance request aiming at the cell operation task to the task assistance terminal, displays the simulation operation information aiming at the cell operation task from the task assistance terminal, obtains the actual operation information input in the cell operation interface, controls the robot to execute the cell operation task according to the actual operation information, and the cell operation task can be stopped being executed by the task assistance terminal. The method can request the task assistance terminal to assist the cell operation task to be executed by the task execution terminal, obtain actual operation information input by an operator under the assistance of the simulated operation information provided by the task assistance terminal, control the robot to execute the cell operation task according to the actual operation information, and stop the execution of the cell operation task at any time by the task assistance terminal so as to avoid the problems of execution errors and the like possibly existing in the execution process of the cell operation task and ensure that the cell operation task of the task execution terminal can be accurately and reliably executed under the assistance of the task assistance terminal.
Drawings
FIG. 1 is a diagram illustrating an exemplary application of a cell manipulation task processing method based on a robot;
FIG. 2 is a schematic flow diagram of a method for processing a cell manipulation task based on a robot in one embodiment;
FIG. 3 is a flow diagram illustrating steps in a feedback process for actual operation of a message segment in one embodiment;
FIG. 4 is a schematic flow chart of a robot-based cell manipulation task processing method according to another embodiment;
FIG. 5 is a schematic flow chart diagram illustrating the steps for obtaining simulated operational information in one embodiment;
FIG. 6 is a block diagram of a cell manipulation task processing device based on a robot in one embodiment;
FIG. 7 is a block diagram showing the construction of a cell manipulation task processing apparatus based on a robot in another embodiment;
FIG. 8 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The cell operation task processing method based on the robot provided by the present application can be applied to the application scenario shown in fig. 1, where the application scenario may include the robot, the task execution terminal 110, and the task assistance terminal 120. The robot may be a six-axis robot, and the robot may be in communication connection with the task execution terminal 110 and the task assistance terminal 120, respectively, and execute cell operation tasks under the control of the task execution terminal 110 and the task assistance terminal 120, where the cell operation tasks may include, but are not limited to, cell grabbing, placing, cleaning, and other operation tasks. The task performing terminal 110 and the task assisting terminal 120 may include, but are not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices.
In a specific application, a user of the task performing terminal 110 may be referred to as an operator 10, a user of the task assisting terminal 120 may be referred to as an assistant 20, the operator 10 may control the robot to perform a cell operation task by using the task performing terminal 110 in a laboratory, and when the operator 10 encounters a cell operation task requiring assistance, the task performing terminal 110 may send an assistance request for the cell operation task to the task assisting terminal 120. The assistant 20 generally uses the task assistance terminal 120 outside the laboratory, and the task assistance terminal 120 may be referred to as a remote assistance terminal with respect to the task execution terminal 110. That is, in the present application, the local task execution terminal 110 may request assistance from the remote task assistance terminal 120 to process a certain task or certain cell operation tasks.
The following section will describe the cell operation task processing method based on the application scenario shown in fig. 1, with reference to the corresponding embodiment and the accompanying drawings.
In one embodiment, as shown in fig. 2, a cell operation task processing method for a robot is provided, which is described by taking the method as an example applied to the task execution terminal 110 in fig. 1, and includes the following steps:
step S201, sending an assistance request aiming at a cell operation task to a task assistance terminal;
in this case, when the operator 10 encounters a cell operation task requiring assistance, assistance can be requested from the assistance person 20 at the task assistance terminal 110, and the assistance person 20 generally needs to be assumed by a user having more experience in the operation of the cell operation task than the operator 10. Specifically, the operator 10 can send an assistance request for the cell operation task to the task assistance terminal 120 of the assistant 20 through the task assistance terminal 110, and the assistance request can include specific contents of the cell operation task to be assisted, such as where to grab and place what cells.
Step S202, displaying simulation operation information aiming at the cell operation task from the task assistance terminal;
for the task assistance terminal 120, after it receives the assistance request, the assistant 20 may provide the simulation operation information for the cell operation task to be assisted on the task assistance terminal 120. The simulation operation information is operation information that the operator 10 needs to input to the task execution terminal 110 in order to execute the cell operation task and that the operator 20 inputs to the task assistance terminal 120, but is referred to as simulation operation information because the operation information is not operation information actually used for controlling the robot. For example, the simulation operation information may specifically be that a plurality of controls are clicked on a cell operation interface of the task execution terminal 110 in a certain order, and in a specific application, the effect of clicking the plurality of controls in the certain order on controlling the robot may be that the robot is controlled to execute corresponding actions in the certain order, such as moving to a certain place first, placing a cell, and moving to another place last, and the like.
After obtaining the simulation operation information provided by the assistor 20, the task assistance terminal 120 may feed back the simulation operation information to the task execution terminal 110; after receiving the simulation operation information, the task execution terminal 110 may provide a simulation operation information display window for displaying the simulation operation information for the operator 10 to view, learn and simulate.
Step S203, acquiring actual operation information input on a cell operation interface;
the task execution terminal 110 also provides a cell operation interface for the operator 10 to actually control the robot, and the operator 10 can input actual operation information on the cell operation interface, which is information actually used to control the robot to perform a corresponding operation with respect to the simulated operation information. In a specific application, the operator 10 may simulate the simulation operation information on the cell operation interface provided by the task performing terminal 110 to input corresponding actual operation information after viewing and learning the simulation operation information, so that the task performing terminal 110 may acquire the actual operation information.
And step S204, controlling the robot to execute the cell operation task according to the actual operation information.
In this step, after the task execution terminal 110 obtains the actual operation information, the robot may be controlled to execute the cell operation task directly according to the actual operation information, or may be conditionally controlled to execute the cell operation task according to the actual operation information. After the task execution terminal 110 obtains the actual operation information, the robot can be directly controlled to execute the cell operation task according to the actual operation information; the conditional control execution means that a certain condition is required to be satisfied before controlling the robot to execute the cell manipulation task according to the actual manipulation information, and the condition may be that confirmation of the task assistance terminal 120 is required, or that the task execution terminal 110 is required to automatically detect whether the robot is in a controllable mode, or the like. But either the direct control execution or the conditional control execution needs to be under the supervision of the helper 20. Specifically, the task assisting terminal 120 may obtain and display a monitoring picture of the cell operation task executed by the robot through the monitoring camera disposed at the position of the robot, so that the assistor 20 may determine whether the execution process of the task is abnormal according to the monitoring picture and need to stop the robot from executing the task, that is, the cell operation task may be stopped by the task assisting terminal 120 at any time. In a specific application, the task assistant terminal 120 may provide an entry triggering an execution stop instruction, so that when the assistant 20 determines that an abnormality occurs according to the monitoring screen, the entry may be clicked to send an execution stop instruction to the task assistant terminal 120, and the task assistant terminal 120 may directly control the robot to stop executing the cell operation task after detecting the execution stop instruction.
In some embodiments, before step S204, the task execution terminal 110 may further send the actual operation information to the task assistance terminal 120, and then receive feedback information of the task assistance terminal 120 on the actual operation information.
In the embodiment, a scheme of conditional control execution is disclosed, after obtaining actual operation information input by the operator 10, the task execution terminal 110 needs to send the actual operation information to the task assistance terminal 120, and the task assistance terminal 120 displays the actual operation information so that the assistance person 20 can check whether the actual operation information meets the operation specification and input feedback information of the actual operation information to the task assistance terminal 120.
To this end, step S204 may further include: in the case where the feedback information indicates that the actual operation information conforms to the operation specification of the cell operation task, the task execution terminal 110 controls the robot to execute the cell operation task according to the actual operation information.
Specifically, if the feedback information indicates that the actual operation information conforms to the operation specification of the cell operation task, which indicates that the actual operation information is confirmed by the helper 20, the task execution terminal 110 may further control the robot to execute the cell operation task according to the actual operation information, so as to ensure that the cell operation task is accurately executed, and effectively avoid the problem that the cell operation task is not executed due to the fact that the operator 10 incorrectly controls the robot because of the inaccurate simulation of the simulation operation information. However, if the feedback information indicates that the actual operation information does not meet the operation specification of the cell operation task, the task execution terminal 110 prompts the operator 10 to re-input the actual operation information according to the simulation operation information and sends the actual operation information to the task assistance terminal 120 again for the assistant 20 to judge until the operation specification of the cell operation task is met.
In the cell operation task processing method based on the robot, the task execution terminal 110 sends an assistance request for the cell operation task to the task assistance terminal 120, the task execution terminal 110 displays simulated operation information for the cell operation task from the task assistance terminal 120, the task execution terminal 110 obtains actual operation information input in the cell operation interface, the robot is controlled to execute the cell operation task according to the actual operation information, and the cell operation task can be stopped being executed by the task assistance terminal 120. According to the method, the task execution terminal 110 can request the task assistance terminal 120 to assist in executing the cell operation task, actual operation information input by an operator under the assistance of the simulated operation information provided by the task assistance terminal 120 is obtained, the robot is controlled to execute the cell operation task according to the actual operation information, the execution of the cell operation task can be stopped by the task assistance terminal 120 at any time, the problems of execution errors and the like possibly existing in the execution process of the cell operation task are avoided, and the cell operation task of the task execution terminal 110 can be accurately and reliably executed under the assistance of the task assistance terminal 120.
In some embodiments, the simulation operation information in step S202 may include a simulation operation demonstration animation, which may include demonstration animation segments corresponding to operation links of the aforementioned cell operation task; in this regard, step S202 may include: and playing each demonstration animation segment of the simulation operation demonstration animation according to the time sequence corresponding to each operation link of the cell operation task.
In this embodiment, the simulation operation information may be provided to the operator 10 in a manner of simulating operation demonstration animations, and the simulation operation demonstration animations may be formed by combining demonstration animation segments corresponding to operation links of the cell operation task, so that a complex cell operation task may be sequentially divided into a plurality of operation links, each operation link corresponding to one demonstration animation segment, thereby helping the operator 10 form actual operation information by viewing each segment to ensure that the cell operation task is accurately and reliably executed. Specifically, after receiving the simulation operation demonstration animation, the task execution terminal 110 displays the simulation operation demonstration animation to enable each demonstration animation segment in the simulation operation demonstration animation to be played according to a time sequence corresponding to each operation link, wherein adjacent demonstration animation segments have play transition duration, that is, after playing a previous demonstration animation segment, a next demonstration animation segment is played after the play transition duration is separated, and the play transition duration needs to meet a preset play transition duration threshold, and the play transition duration threshold can be set by the assistor 20 according to factors such as respective operation difficulty and required operation duration of each operation link. After the task execution terminal 110 finishes playing the previous demonstration animation segment, the playing transition time length at least reaches the playing transition time length threshold, and the task execution terminal 110 plays the next demonstration animation segment, so that the demonstration animation segments in the simulation operation demonstration animation are played in sequence.
In some embodiments, further, step S203 specifically includes: and acquiring each actual operation information segment input in the cell operation interface, and combining each actual operation information segment to obtain actual operation information.
In this embodiment, the operator 10 may synchronously input actual operation information corresponding to the simulation operation demonstrated in the corresponding demonstration animation segment in the cell operation interface during the process of playing each demonstration animation segment by the task execution terminal 110, and the actual operation information synchronously input by the simulation operation demonstrated in each demonstration animation segment corresponding to the operator 10 is referred to as an actual operation information segment, so that each actual operation information segment corresponds to the simulation operation demonstrated in each demonstration animation segment respectively. In a specific application, the operator 10 may input corresponding actual operation information segments in the cell operation interface during the playing transition duration corresponding to each demonstration animation segment, and the task execution terminal 110 combines the received actual operation information segments into actual operation information. In this embodiment, the operator 10 obtains the actual operation information by sequentially inputting the actual operation information segments corresponding to the operation links, so as to avoid the problem that the operator 10 is difficult to input accurate actual operation information at one time to cause task execution failure due to too complex cell operation tasks.
Thus, further, as shown in fig. 3, before step S204, the method may further include the following steps:
step S301, sending actual operation information to a task assistance terminal;
the task execution terminal 110 sends the actual operation information combined by the actual operation information segments to the task assistance terminal 120 for the assistant 20 to determine whether the operation specification is met.
Step S302, receiving feedback information of each actual operation information segment in the actual operation information from the task assistance terminal;
specifically, after the actual operation information is sent to the task assistance terminal 120, the task assistance terminal 120 may sequentially display each actual operation information segment, and each actual operation information segment may specifically be that a plurality of controls are clicked on a cell operation interface of the task execution terminal 110 in a certain order, so that the assistor 20 determines whether each actual operation information segment displayed by the task assistance terminal 120 meets the operation specification, and then inputs feedback information for each actual operation information segment at the task assistance terminal 120, and the task assistance terminal 120 sends the feedback information to the task execution terminal 110.
Step S303, under the condition that the feedback information represents that abnormal actual operation information segments exist in the actual operation information segments, playing a demonstration animation segment corresponding to the abnormal actual operation information segment and acquiring the corresponding actual operation information segment which is input again in the cell operation interface;
the abnormal actual operation information segment is an actual operation information segment that is marked by the assistant 20 at the task assistance terminal 120 as not meeting the operation specification of the cell operation task in each actual operation information segment. In this step, when the feedback information of the task assistance terminal 120 indicates that there is an abnormal actual operation information segment in each actual operation information segment, the task execution terminal 110 plays a demonstration animation segment corresponding to the abnormal actual operation information segment, and simultaneously may prompt the operator 10 to re-input the actual operation information segment corresponding to the abnormal actual operation information segment on the cell operation interface, and the task execution terminal 110 obtains the actual operation information segment corresponding to the re-input of the operator 10 on the cell operation interface.
And step S304, replacing the abnormal actual operation information segment in the actual operation information with the newly input actual operation information and then sending the actual operation information segment to the task assistance terminal again.
In this step, the task execution terminal 110 replaces the abnormal actual operation information segment in the actual operation information with the corresponding actual operation information segment input again by the operator 10 on the cell operation interface, and then sends the abnormal actual operation information segment to the task assistance terminal 120 again for the assistant 20 to determine whether the abnormal actual operation information segment meets the operation specification. If the abnormal actual operation information segment still exists, the operator 10 needs to re-input the abnormal actual operation information segment again in the cell operation interface of the task execution terminal 110 and submit the abnormal actual operation information segment to the task assistance terminal 120 until the feedback information returned by the task assistance terminal 120 represents that each actual operation information segment in the submitted actual operation information conforms to the operation specification.
The scheme of the embodiment can form the actual operation information in a multi-segment combination mode and provide the actual operation information to the assistant 20 of the task assistance terminal 120 for segmented review, so that the operator 10 only needs to input the actual operation information segment which does not meet the specification again without inputting all the actual operation information again, the possibility of error operation again is reduced, and the forming efficiency of the operation information is improved while the actual operation information is ensured to be accurate and reliable.
In one embodiment, the method may further include the steps of:
in the process of the robot executing the cell operation task, if the task execution terminal 110 receives the task stop execution information from the task assistance terminal 120, the task execution terminal 110 limits the input on the cell operation interface; when the task execution terminal 110 detects that the robot reaches a predetermined position under the control of the task assistance terminal 120, the task execution terminal 110 releases the restriction on the input to the cell operation interface.
In this embodiment, mainly during the cell operation task executed by the robot, the assistant 20 may monitor the task execution process at the task assistant terminal 120, and once it is found that the robot is abnormal in the task execution process, such as performing an error action, the assistant 20 may send task stop execution information to the task execution terminal 110 through the task assistant terminal 120 and control the robot to stop executing the cell operation task. After the task execution terminal 110 receives the task stop execution information, the input of the operator 10 on the cell operation interface may be limited, that is, the task execution terminal 110 may temporarily disallow the operator 10 from inputting the operation information on the robot on the cell operation interface, so as to prevent the robot from possibly performing more erroneous actions under the operation of the operator 10. The robot is directly controlled by the mission assistance terminal 120, and the mission assistance terminal 120 may control the robot to move from a current position to a predetermined position, which may be a preset initial safety position of the robot (or referred to as a zero position of the robot). After the robot reaches the predetermined position, the task assistance terminal 120 may send a release instruction to the task execution terminal 110, and after the task execution terminal 110 receives the release instruction from the task execution terminal 110, it is determined that the robot has reached the predetermined position under the control of the task assistance terminal 120, and the task execution terminal 110 immediately releases the restriction on the input of the cell operation interface, and the operator 10 may input corresponding operation information on the cell operation interface again to control the robot, thereby improving the reliability of the cell operation task execution.
In an embodiment, there is also provided a cell operation task processing method based on a robot, as shown in fig. 4, which is described by taking the method as an example applied to the task assistance terminal 120 in fig. 1, and includes the following steps:
step S401, receiving an assistance request aiming at a cell operation task sent by a task execution terminal;
in this step, the task assistance terminal 120 may receive an assistance request for a cell operation task initiated by the operator 10 at the task performing terminal 110.
Step S402, displaying an operation auxiliary interface aiming at the cell operation task according to the assistance request;
the task assistance terminal 120 displays an operation assistance interface for the cell manipulation task for assisting the operator 20 to input the simulation manipulation information, in accordance with the assistance request transmitted from the task execution terminal 110. The operation support interface may be the same as the cell operation interface of the task performing terminal 110, and thus the simulated operation information input by the assistant 20 at the operation support interface may facilitate the operator 10 to input corresponding actual operation information in a simulated manner at the cell operation interface of the task performing terminal 110.
Step S403, acquiring the simulation operation information input in the operation auxiliary interface, and sending the simulation operation information to the task execution terminal for displaying by the task execution terminal;
after the task assistance terminal 120 provides the operation assistance interface, the assistor 20 may input the simulation operation information in the operation assistance interface according to the cell operation task to be assisted, the task assistance terminal 120 obtains the simulation operation information, after the assistor 20 confirms that the input of the simulation operation information is completed, the task assistance terminal 120 sends the simulation operation information to the task execution terminal 110, and the task execution terminal 110 may display the simulation operation information after receiving the simulation operation information for the operator 10 to view, learn and simulate.
Step S404, providing a monitoring picture for controlling the robot to execute the cell operation task by the monitoring task execution terminal according to the actual operation information;
in a specific scenario, the task execution terminal 110 receives and displays the simulation operation information and provides a cell operation interface for the operator 10, and the task execution terminal 110 receives actual operation information input by the operator 10 on the cell operation interface and controls the robot to execute the cell operation task according to the actual operation information. In this step, the task assisting terminal 120 provides the assisting person 20 with a monitoring picture for controlling the robot to execute the cell operation task according to the actual operation information, so that the assisting person 20 determines whether the execution process of the task is abnormal according to the monitoring picture and needs to stop the robot to execute the task, and the monitoring picture can be obtained by the task assisting terminal 120 through a monitoring camera deployed at the position of the robot.
In step S405, when the task assistance terminal 120 receives the stop execution instruction, the robot is controlled to stop executing the cell manipulation task.
In a specific application, the task assistance terminal 120 may provide an entry triggering an execution stop instruction, and when the assistor 20 determines that an abnormality occurs according to the monitoring screen, the entry may be clicked to send the execution stop instruction to the task assistance terminal 120, and after receiving the execution stop instruction, the task assistance terminal 120 may directly control the robot to stop executing the cell operation task.
In the cell operation task processing method based on the robot, the task assistance terminal 120 may receive an assistance request for a cell operation task sent by the task execution terminal 110, display an operation assistance interface for the cell operation task according to the assistance request, acquire simulation operation information input by the assistor 20 on the operation assistance interface, and send the simulation operation information to the task execution terminal 110 for display, the task assistance terminal 120 further provides a monitoring screen for monitoring the actual operation information input by the task execution terminal 110 on the cell operation interface according to the operator 10 to control the robot to execute the cell operation task, and when the task assistance terminal 120 receives an execution stop instruction, the robot may be directly controlled to stop executing the cell operation task. The method can avoid the problems of execution errors and the like possibly existing in the execution process of the cell operation task, and ensure that the cell operation task of the task execution terminal 110 can be accurately and reliably executed under the assistance of the task assistance terminal 120.
In an embodiment, as shown in fig. 5, the acquiring of the simulation operation information input in the operation assistance interface in step S403 may specifically include:
step S501, acquiring simulation operations of each operation link corresponding to a cell operation task, which are input on an operation auxiliary interface;
in this step, the assistant 20 may input simulation operations corresponding to each operation link of the cell operation task on the operation support interface provided by the task assistance terminal 120, and the task assistance terminal 120 acquires these simulation operations.
Step S502, obtaining each demonstration animation segment corresponding to each operation link respectively according to the simulation operation of each operation link corresponding to the cell operation task;
the task assistance terminal 120 generates demonstration animation segments corresponding to the simulation operations of the operation links corresponding to the cell operation tasks, which are input by the assistor 20 on the operation assistance interface, and each demonstration animation segment corresponds to each operation link.
Step S503, combining all demonstration animation segments according to a preset playing transition duration threshold and a time sequence corresponding to each operation link to obtain simulated operation demonstration animations;
specifically, after the task assistance terminal 120 obtains each demonstration animation segment, the task assistance terminal 120 may further obtain a play transition duration threshold set by the assistor 20 according to factors such as the operation difficulty and the operation time corresponding to each operation link, and then the task assistance terminal 120 combines each demonstration animation segment into the simulation operation demonstration animation according to the play transition duration threshold and the corresponding time sequence of each operation link in the cell operation task. And the playing transition duration of the adjacent demonstration animation segments in the simulation operation demonstration animation meets the playing transition duration threshold.
In step S504, the simulation operation demonstration animation is used as the simulation operation information.
According to the solution provided by this embodiment, the task assisting terminal 120 may send the simulation operation demonstration animation as simulation operation information to the task performing terminal 110 for displaying, so that the operator 10 can ensure that the cell operation task is accurately and reliably performed by viewing the operation corresponding to each segment in the simulation operation demonstration animation and forming actual operation information in the task performing terminal 110.
It should be understood that, although the steps in the above flowcharts are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the above flowcharts may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or the stages is not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a part of the steps or the stages in other steps.
In one embodiment, as shown in fig. 6, there is provided a robot-based cell manipulation task processing device 600 applicable to a task execution terminal 110, including:
an assistance request sending module 601, configured to send an assistance request for a cell operation task to a task assistance terminal;
a simulation operation display module 602, configured to display simulation operation information for the cell operation task from the task assistance terminal;
an actual operation obtaining module 603, configured to obtain actual operation information input in the cell operation interface;
an operation task executing module 604, configured to control the robot to execute the cell operation task according to the actual operation information; the cell manipulation task may be stopped by the task assistance terminal.
In one embodiment, the apparatus 600 further comprises: the first information feedback unit is used for sending the actual operation information to the task assistance terminal; receiving feedback information of the actual operation information from the task assistance terminal; an operation task executing module 604, configured to, when the feedback information indicates that the actual operation information meets the operation specification of the cell operation task, control the robot to execute the cell operation task according to the actual operation information.
In one embodiment, the simulated operation information includes a simulated operation demonstration animation; the simulation operation demonstration animation comprises demonstration animation segments corresponding to the operation links of the cell operation task; the simulation operation display module 602 is configured to play each demonstration animation segment of the simulation operation demonstration animation according to a time sequence corresponding to each operation link of the cell operation task; the playing transition duration of the adjacent demonstration animation segments meets a preset playing transition duration threshold; an actual operation acquiring module 603, configured to acquire actual operation information segments input in the cell operation interface; the actual operation information segments respectively correspond to the simulation operations demonstrated in the demonstration animation segments; and combining the actual operation information sections to obtain actual operation information.
In one embodiment, the apparatus 600 further comprises: the second information feedback unit is used for sending the actual operation information to the task assistance terminal; receiving feedback information of each actual operation information segment in the actual operation information from the task assistance terminal; under the condition that the feedback information represents that abnormal actual operation information segments exist in the actual operation information segments, playing demonstration animation segments corresponding to the abnormal actual operation information segments and acquiring corresponding actual operation information segments input again in the cell operation interface; the abnormal actual operation information segment is an actual operation information segment which does not conform to the operation specification of the cell operation task; and replacing the abnormal actual operation information segment in the actual operation information with the re-input actual operation information and then sending the actual operation information segment to the task assistance terminal again.
In one embodiment, the apparatus 600 further comprises: the input limiting unit is used for limiting the input of the cell operation interface if task stop execution information from the task assistance terminal is received in the cell operation task execution process of the robot; and when the robot is detected to reach a preset position under the control of the task assistance terminal, releasing the limitation on the input of the cell operation interface.
In one embodiment, as shown in fig. 7, there is provided a cell manipulation task processing device based on a robot, the device 700 being applicable to the task assistance terminal 120, including:
an assistance request receiving module 701, configured to receive an assistance request for a cell operation task sent by a task execution terminal;
an auxiliary interface display module 702, configured to display an operation auxiliary interface for the cell operation task according to the assistance request;
the simulation operation processing module 703 is configured to acquire simulation operation information input in the operation assistance interface, and send the simulation operation information to the task execution terminal for display by the task execution terminal;
a monitoring picture providing module 704, configured to provide a monitoring picture for monitoring the task execution terminal to control the robot to execute the cell operation task according to the actual operation information; the actual operation information is input in a cell operation interface of the task execution terminal;
a stop instruction processing module 705, configured to, when receiving the stop execution instruction, control the robot to stop executing the cell manipulation task.
In one embodiment, the simulation operation processing module 703 is configured to obtain simulation operations of operation links corresponding to the cell operation task, which are input in the operation assistance interface; acquiring demonstration animation segments corresponding to the operation links according to the simulation operation of the operation links corresponding to the cell operation task; combining the demonstration animation segments to obtain simulation operation demonstration animations according to a preset playing transition duration threshold and the time sequence corresponding to each operation link; the playing transition duration of the adjacent demonstration animation segments in the simulation operation demonstration animation meets the playing transition duration threshold; and taking the simulation operation demonstration animation as the simulation operation information.
In one embodiment, the apparatus 700 may further include: and the feedback processing unit is used for receiving the actual operation information sent by the task execution terminal, acquiring feedback information of the actual operation information, and sending the feedback information to the task execution terminal.
In one embodiment, the stop instruction processing module 705 is further configured to send task stop execution information to the task execution terminal, control the robot to move to a predetermined position, and send a restriction removal instruction to the task execution terminal.
For specific limitations of the robot-based cell manipulation task processing device, reference may be made to the above limitations of the robot-based cell manipulation task processing method, which are not described herein again. The respective modules in the robot-based cell manipulation task processing apparatus described above may be wholly or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 8. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a robot-based cell manipulation task processing method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 8 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (10)
1. A cell operation task processing method based on a robot is applied to a task execution terminal, and the method comprises the following steps:
sending an assistance request aiming at a cell operation task to a task assistance terminal;
displaying simulated operation information aiming at the cell operation task from the task assistance terminal; wherein the simulation operation information comprises simulation operation demonstration animation; the simulation operation demonstration animation comprises demonstration animation segments corresponding to the operation links of the cell operation task;
playing each demonstration animation segment of the simulation operation demonstration animation according to the time sequence corresponding to each operation link of the cell operation task; the playing transition duration of the adjacent demonstration animation segments meets a preset playing transition duration threshold;
acquiring each actual operation information segment input in a cell operation interface within the playing transition duration of each demonstration animation segment; the actual operation information segments respectively correspond to simulation operations demonstrated in the demonstration animation segments;
combining the actual operation information segments to obtain actual operation information;
controlling a robot to execute the cell operation task according to the actual operation information; the cell operation task can be stopped by the task assistance terminal;
before the controlling the robot to execute the cell operation task according to the actual operation information, the method further comprises:
sending the actual operation information to the task assistance terminal;
receiving feedback information of the actual operation information from the task assistance terminal;
the controlling the robot to execute the cell operation task according to the actual operation information comprises the following steps:
and under the condition that the feedback information represents that the actual operation information conforms to the operation specification of the cell operation task, controlling the robot to execute the cell operation task according to the actual operation information.
2. The method of claim 1, wherein before controlling the robot to perform the cell manipulation task according to the actual manipulation information, the method further comprises:
sending the actual operation information to the task assistance terminal;
receiving feedback information of each actual operation information segment in the actual operation information from the task assistance terminal;
under the condition that the feedback information represents that abnormal actual operation information segments exist in the actual operation information segments, playing demonstration animation segments corresponding to the abnormal actual operation information segments and acquiring the corresponding actual operation information segments input again in the cell operation interface; the abnormal actual operation information segment is the actual operation information segment which does not conform to the operation specification of the cell operation task;
and replacing the abnormal actual operation information segment in the actual operation information with the re-input actual operation information and then sending the actual operation information segment to the task assistance terminal again.
3. The method according to any one of claims 1 to 2, further comprising:
in the process that the robot executes the cell operation task, if task stop execution information from the task assistance terminal is received, limiting input on the cell operation interface;
and when the robot is detected to reach a preset position under the control of the task assistance terminal, releasing the limitation on the input of the cell operation interface.
4. A cell operation task processing method based on a robot is applied to a task assistance terminal, and the method comprises the following steps:
receiving an assistance request aiming at a cell operation task sent by a task execution terminal;
displaying an operation auxiliary interface aiming at the cell operation task according to the assistance request;
acquiring simulation operation information input in the operation auxiliary interface, wherein the simulation operation information comprises simulation operation demonstration animation; the simulation operation demonstration animation comprises demonstration animation segments corresponding to the operation links of the cell operation task;
sending the simulation operation information to the task execution terminal for displaying by the task execution terminal; the task execution terminal plays each demonstration animation segment of the simulation operation demonstration animation according to the time sequence corresponding to each operation link of the cell operation task; the playing transition duration of the adjacent demonstration animation segments meets a preset playing transition duration threshold;
providing a monitoring picture for monitoring the task execution terminal to control the robot to execute the cell operation task according to actual operation information; the actual operation information is the combination of actual operation information segments, the actual operation information segments are input in a cell operation interface of the task execution terminal within the playing transition duration of each demonstration animation segment, and the actual operation information segments respectively correspond to the simulation operation demonstrated in the demonstration animation segments;
when receiving an execution stopping instruction, controlling the robot to stop executing the cell operation task;
before the task execution terminal controls the robot to execute the cell operation task according to the actual operation information, the method further comprises the following steps:
receiving the actual operation information sent by the task execution terminal;
acquiring feedback information of the actual operation information, and sending the feedback information to the task execution terminal;
the task execution terminal controls the robot to execute the cell operation task according to the actual operation information, and the task execution terminal comprises:
and under the condition that the feedback information represents that the actual operation information conforms to the operation specification of the cell operation task, the task execution terminal controls the robot to execute the cell operation task according to the actual operation information.
5. The method of claim 4, wherein the obtaining of the simulated operation information input at the operation assistance interface comprises:
acquiring simulation operation of each operation link corresponding to the cell operation task input in the operation auxiliary interface;
acquiring demonstration animation segments corresponding to the operation links according to the simulation operation of the operation links corresponding to the cell operation task;
combining the demonstration animation segments to obtain simulation operation demonstration animations according to a preset playing transition duration threshold and the time sequence corresponding to each operation link; the playing transition duration of the adjacent demonstration animation segments in the simulation operation demonstration animation meets the playing transition duration threshold;
and taking the simulation operation demonstration animation as the simulation operation information.
6. A cell operation task processing device based on a robot is applied to a task execution terminal and comprises:
the assistance request sending module is used for sending an assistance request aiming at a cell operation task to the task assistance terminal;
the simulated operation display module is used for displaying simulated operation information aiming at the cell operation task from the task assistance terminal; wherein the simulation operation information comprises simulation operation demonstration animation; the simulation operation demonstration animation comprises demonstration animation segments corresponding to the operation links of the cell operation task;
the simulation operation display module is further used for playing each demonstration animation segment of the simulation operation demonstration animation according to the time sequence corresponding to each operation link of the cell operation task; the playing transition duration of the adjacent demonstration animation segments meets the preset playing transition duration threshold
The actual operation acquisition module is used for acquiring each actual operation information segment input in the cell operation interface within the playing transition duration of each demonstration animation segment; the actual operation information segments respectively correspond to simulation operations demonstrated in the demonstration animation segments; combining the actual operation information segments to obtain actual operation information;
the operation task execution module is used for controlling the robot to execute the cell operation task according to the actual operation information; the cell operation task can be stopped by the task assistance terminal;
the device further comprises:
the first information feedback unit is used for sending the actual operation information to the task assistance terminal; receiving feedback information of the actual operation information from the task assistance terminal;
and the operation task execution module is used for controlling the robot to execute the cell operation task according to the actual operation information under the condition that the feedback information represents that the actual operation information conforms to the operation specification of the cell operation task.
7. The apparatus of claim 6, further comprising: the input limiting unit is used for limiting the input of the cell operation interface if task stop execution information from the task assistance terminal is received in the cell operation task execution process of the robot; and when the robot is detected to reach a preset position under the control of the task assistance terminal, releasing the limitation on the input of the cell operation interface.
8. A cell operation task processing device based on a robot is applied to a task assistance terminal and comprises:
the cell operation task processing module is used for processing cell operation tasks sent by the task execution terminal;
the auxiliary interface display module is used for displaying an operation auxiliary interface aiming at the cell operation task according to the assistance request;
the simulation operation processing module is used for acquiring simulation operation information input in the operation auxiliary interface, wherein the simulation operation information comprises simulation operation demonstration animation; the simulation operation demonstration animation comprises demonstration animation segments corresponding to the operation links of the cell operation task; sending the simulation operation information to the task execution terminal for displaying by the task execution terminal; the task execution terminal plays each demonstration animation segment of the simulation operation demonstration animation according to the time sequence corresponding to each operation link of the cell operation task; the playing transition duration of the adjacent demonstration animation segments meets a preset playing transition duration threshold;
the monitoring picture providing module is used for providing a monitoring picture for monitoring the task execution terminal to control the robot to execute the cell operation task according to the actual operation information; the actual operation information is the combination of actual operation information segments, the actual operation information segments are input in a cell operation interface of the task execution terminal within the playing transition duration of each demonstration animation segment, and the actual operation information segments respectively correspond to the simulation operation demonstrated in the demonstration animation segments;
the stopping instruction processing module is used for controlling the robot to stop executing the cell operation task when receiving an execution stopping instruction;
the device also comprises a feedback processing unit used for receiving the actual operation information sent by the task execution terminal; acquiring feedback information of the actual operation information, and sending the feedback information to the task execution terminal;
the monitoring picture providing module is also used for monitoring a monitoring picture for controlling the robot to execute the cell operation task according to the actual operation information when the feedback information represents that the actual operation information conforms to the operation specification of the cell operation task.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 5.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 5.
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