CN115145233B - Multi-stage small-granularity movement scheduling control method, device and equipment for robot - Google Patents
Multi-stage small-granularity movement scheduling control method, device and equipment for robot Download PDFInfo
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- CN115145233B CN115145233B CN202210880116.3A CN202210880116A CN115145233B CN 115145233 B CN115145233 B CN 115145233B CN 202210880116 A CN202210880116 A CN 202210880116A CN 115145233 B CN115145233 B CN 115145233B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2209/00—Indexing scheme relating to G06F9/00
- G06F2209/48—Indexing scheme relating to G06F9/48
- G06F2209/484—Precedence
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a multi-stage small-granularity movement scheduling control method, a device and equipment for a robot, wherein movement scheduling tasks of the robot are sequentially divided into tasks, action groups and actions from top to bottom according to layers, each task comprises an action group, each action group comprises a plurality of actions, and the actions are the minimum executable units of the detachable tasks; the invention supports the scheduling of complex motion scenes by adopting a preemptive high-priority scheduling method HPF during motion scheduling control, periodically inquiring a high-priority task in a current task, storing parameters and states of the current task to execute the high-priority task if the inquired high-priority task is higher than the task currently running, and executing an action group under the task if the inquired high-priority task is lower than or equal to the task currently running, continuing to execute the task currently running, and sleeping for a set time after the task currently running is ended and then inquiring the priority task again.
Description
Technical Field
The invention belongs to a task scheduling control method, and particularly relates to a multi-stage small-granularity motion scheduling control method, device and equipment for a robot.
Background
Task scheduling is an important point and a difficult point of motion control of the track robot, and the current task scheduling mainly comprises switching of manual tasks and inspection tasks and a task pool for managing a plurality of tasks. The method can only solve the problem of robot motion control of simple motion scenes, and can not meet the motion scheduling in the face of various scenes such as low-power charging, fixed-point triggering actions and the like. This simple scheduling mechanism can only be solved by special handling, thereby causing severe code coupling.
According to the robot motion scheduling method under the complex scene, the robot motion scheduling under the complex scene is solved through task priority, time slices, action groups and tree data structures, the code reusability is improved, and the code coupling is greatly reduced. The existing scheduling algorithm is complex, code legibility is poor, tasks are managed through a tree structure, and locking granularity is large in order to ensure the consistency of multiple threads.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a multi-stage small-granularity motion scheduling control method, device and equipment for a robot, which support scheduling of complex motion scenes and do not increase the complexity and the coupling of codes while solving task scheduling.
In order to solve the technical problems, the invention is realized by the following technical scheme:
a robot multistage small-granularity motion scheduling control method comprises the following steps:
dividing a motion scheduling task of a robot into tasks, action groups and actions sequentially from top to bottom according to layers, wherein each task comprises an action group, each action group comprises a plurality of actions, and the actions are the minimum executable units of the detachable tasks;
the method comprises the steps of adopting a preemptive high-priority scheduling method HPF during motion scheduling control, periodically inquiring a high-priority task in a current task, storing parameters and states of the current task to execute the high-priority task if the inquired high-priority task is higher than the currently running task, executing an action group under the task, continuously executing the currently running task if the inquired high-priority task is lower than or equal to the currently running task, dormancy for a set time after the currently running task is ended, and then re-inquiring the priority task.
Further, when the task with high priority is queried, if the current highest-level task is a manual control task, scheduling the tasks with the same priority according to the deprivation type subsequent service order, and simultaneously clearing all other subtasks under the manual control task, and executing the current latest subtasks.
Further, when the task with high priority is queried, if the task with the highest priority is not a manual control task at present, the task with the highest priority is searched according to the scheduling sequence of first-come first-serve and then according to the deep left query method of the tree data structure in the task with the same priority.
Further, when executing each action group, each action in the action group is executed according to the first-in first-out principle, specifically as follows:
inquiring whether the task to which the action group belongs is interrupted, if not, executing the current action from the beginning by the action list index of the action group, and inquiring the next action; if the next action is inquired when the current action is executed, setting the current task state as successful execution;
for the next action which is searched, attempting to execute, and the number of times of the attempts is not more than 3, if the attempt to execute is successful, setting the current task state as executing, and if the attempt to execute for 3 times is not responded, judging that the action is blocked, and setting the action state as executing failure;
and returning to the current task after traversing the action list of the action group.
Further, after each task is executed, deleting the task from the task barrel, deleting a certain action group in the task from the task after the execution of the action group is finished, wherein the action group is a minimum granularity unit for switching and storing the task operation scene.
A multi-stage small-granularity motion scheduling control device for a robot, comprising:
the motion scheduling task dividing module is used for dividing the motion scheduling task of the robot into tasks, action groups and actions from top to bottom in sequence according to layers, wherein each task comprises an action group, each action group comprises a plurality of actions, and the actions are the minimum executable units of the detachable tasks;
the task inquiry module is used for periodically inquiring the high-priority task in the current task by adopting a preemptive high-priority scheduling method HPF during motion scheduling control, storing parameters and states of the current task to execute the high-priority task if the inquired high-priority task is higher than the task currently being operated, executing an action group under the task, continuously executing the task currently being operated if the inquired high-priority task is lower than or equal to the task currently being operated, dormancy setting time is reserved after the task currently being operated is ended, and then inquiring the priority task again.
Further, the task query module is further configured to, when querying a task with a high priority, if the task with the highest priority is a non-manual control task at present, find the task with the highest priority according to a first-come first-serve scheduling sequence and then according to a deep left query method of a tree data structure at the task with the same priority.
Further, the task query module is further configured to, when querying a task with a high priority, if the task with the highest priority is a non-manual control task at present, find the task with the highest priority according to a first-come first-serve scheduling sequence and then according to a deep left query method of a tree data structure at the task with the same priority.
An apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of a robot multi-level small-granularity motion schedule control method when the computer program is executed.
A computer readable storage medium storing a computer program which when executed by a processor implements the steps of a robot multi-level small-granularity motion scheduling control method.
Compared with the prior art, the invention has at least the following beneficial effects:
(1) The invention supports the scheduling of complex motion scenes, and does not increase the complexity and the coupling of codes while solving task scheduling;
(2) The invention has wide universality, only needs to be concerned about the division of action groups and action tasks, does not be concerned about the service, and realizes the decoupling of the motion service;
(3) The invention has fast dispatching response, and the time slice is at millisecond level;
(4) The invention has smaller granularity, adopts the action as the minimum scheduling unit and has smaller scheduling cost.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a task organizational chart of the present invention;
FIG. 2 is a schematic diagram of a task scheduling strategy of the present invention;
FIG. 3 is a schematic diagram of a task flow diagram with highest query priority in accordance with the present invention;
FIG. 4 is a flow chart of the execution of actions within an action group according to the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 and fig. 2, according to the multi-stage small-granularity motion scheduling control method for the robot, motion scheduling tasks of the robot are sequentially divided into tasks, action groups and actions from top to bottom according to layers, each task comprises an action group, each action group comprises a plurality of actions, and the actions are the minimum executable units of the detachable tasks; the method comprises the steps of adopting a preemptive high-priority scheduling method HPF (high performance liquid filter) in motion scheduling control, namely periodically inquiring a high priority task in a current task, storing parameters and states of the current task to execute the high priority task if the inquired high priority task is higher than the currently running task, executing an action group under the task, continuously executing the currently running task if the inquired high priority task is lower than or equal to the currently running task, dormancy for a period of time, such as 200ms, after the currently running task is ended, and re-inquiring the priority task. For example, an action group is a set of actions (e.g., patrol to a certain point) that can output a result, and a task is a time-ordered task (e.g., patrol task) that is composed of a set of action groups.
As shown in fig. 3, when a task with a high priority is queried, if the task with the highest priority is a manual control task at present, the task with the same priority is scheduled according to the deprivation type subsequent service order, and all other sub-tasks under the manual control task are cleared at the same time, so that the current latest sub-task is executed.
When inquiring a task with high priority, if the task with the highest priority is a non-manual control task at present, the task with the highest priority is searched according to a first-come first-serve scheduling sequence and then according to a depth left inquiring method of a tree data structure in the task with the same priority.
As shown in fig. 4, when each action group is executed, each action in the action group is executed according to the first-in first-out principle, specifically as follows:
inquiring whether the task to which the action group belongs is interrupted, if not, executing the current action from the beginning by the action list index of the action group, and inquiring the next action; if the next action is inquired when the current action is executed, setting the current task state as successful execution;
for the next action which is searched, attempting to execute, and the number of times of the attempts is not more than 3, if the attempt to execute is successful, setting the current task state as executing, and if the attempt to execute for three times is not responded, judging that the action is blocked, and setting the action state as executing failure;
and returning to the current task after traversing the action list of the action group.
After each task is executed, deleting the task from the task barrel, deleting a certain action group in the task from the task after the execution of the action group is finished, wherein the action group is the minimum granularity unit for switching and storing the task operation scene.
The invention also provides a robot multistage small-granularity movement scheduling control device, which is used for realizing the robot multistage small-granularity movement scheduling control method, and comprises the following steps:
the motion scheduling task dividing module is used for dividing the motion scheduling task of the robot into tasks, action groups and actions from top to bottom in sequence according to layers, wherein each task comprises an action group, each action group comprises a plurality of actions, and the actions are the minimum executable units of the detachable tasks;
the task inquiry module is used for periodically inquiring the high-priority task in the current task by adopting a preemptive high-priority scheduling method HPF during motion scheduling control, storing parameters and states of the current task to execute the high-priority task if the inquired high-priority task is higher than the task currently being operated, executing an action group under the task, continuously executing the task currently being operated if the inquired high-priority task is lower than or equal to the task currently being operated, dormancy setting time is reserved after the task currently being operated is ended, and then inquiring the priority task again.
The task query module is further used for searching the task with the highest priority according to the scheduling sequence of first-come first-serve service and then according to the depth left query method of the tree data structure in the task with the same priority if the task with the highest priority is not a manual control task at present when the task with the high priority is queried.
The task query module is further used for searching the task with the highest priority according to the scheduling sequence of first-come first-serve service and then according to the depth left query method of the tree data structure in the task with the same priority if the task with the highest priority is not a manual control task at present when the task with the high priority is queried.
In one embodiment, the invention provides a computer device comprising a processor and a memory for storing a computer program comprising program instructions, the processor for executing the program instructions stored by the computer storage medium. The processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf Programmable gate arrays (FPGAs) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., which are the computational core and control core of the terminal adapted to implement one or more instructions, in particular adapted to load and execute one or more instructions to implement a corresponding method flow or a corresponding function; the processor provided by the embodiment of the invention can be used for the operation of a robot multistage small-granularity motion scheduling control method.
In one embodiment, a method for controlling multi-level small-granularity motion scheduling of a robot can be stored in a computer readable storage medium if implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. Computer-readable storage media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data.
The computer storage media may be any available media or data storage device that can be accessed by a computer, including, but not limited to, magnetic storage (e.g., floppy disks, hard disks, magnetic tape, magneto-optical disks (MOs), etc.), optical storage (e.g., CD, DVD, BD, HVD, etc.), and semiconductor storage (e.g., ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid State Disk (SSD)), etc.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. The multi-stage small-granularity motion scheduling control method for the robot is characterized by comprising the following steps of:
dividing a motion scheduling task of a robot into tasks, action groups and actions sequentially from top to bottom according to layers, wherein each task comprises an action group, each action group comprises a plurality of actions, and the actions are the minimum executable units of the detachable tasks;
the method comprises the steps that a preemptive high-priority dispatching method HPF is adopted during motion dispatching control, a high-priority task is periodically inquired in a current task, if the inquired high-priority task is higher than the currently running task, parameters and states of the current task are saved to execute the high-priority task, an action group under the task is executed, if the inquired high-priority task is lower than or equal to the currently running task, the currently running task is continuously executed, the currently running task is dormant for a set time after being ended, and then the priority task is inquired again;
when the task with high priority is inquired, if the current highest-level task is a manual control task, scheduling the tasks with the same priority according to the deprivation type subsequent service sequence, and simultaneously removing all other subtasks under the manual control task to execute the current latest subtasks;
when the task with high priority is inquired, if the task with the highest priority is not a manual control task at present, the task with the highest priority is searched according to a first-come first-serve scheduling sequence and then according to a depth left inquiry method of a tree data structure in the task with the same priority;
when executing each action group, each action in the action group is executed according to the first-in first-out principle, and the specific steps are as follows:
inquiring whether the task to which the action group belongs is interrupted, if not, executing the current action from the beginning by the action list index of the action group, and inquiring the next action; if the next action is inquired when the current action is executed, setting the current task state as successful execution;
for the next action which is searched, attempting to execute, and the number of times of the attempts is not more than 3, if the attempt to execute is successful, setting the current task state as executing, and if the attempt to execute for 3 times is not responded, judging that the action is blocked, and setting the action state as executing failure;
and returning to the current task after traversing the action list of the action group.
2. The method for controlling multi-stage small-granularity motion scheduling of a robot according to claim 1, wherein after each task is executed, deleting the task from a task bucket, deleting a certain action group in the task from the task after the execution of the action group is completed, and the action group is a minimum granularity unit for switching and storing the task operation scene.
3. A multi-stage small-granularity motion scheduling control device for a robot, characterized by being used for realizing the scheduling control method of claim 1 or 2, comprising:
the motion scheduling task dividing module is used for dividing the motion scheduling task of the robot into tasks, action groups and actions from top to bottom in sequence according to layers, wherein each task comprises an action group, each action group comprises a plurality of actions, and the actions are the minimum executable units of the detachable tasks;
the task inquiry module is used for periodically inquiring the high-priority task in the current task by adopting a preemptive high-priority scheduling method HPF during motion scheduling control, storing parameters and states of the current task to execute the high-priority task if the inquired high-priority task is higher than the task currently being operated, executing an action group under the task, continuously executing the task currently being operated if the inquired high-priority task is lower than or equal to the task currently being operated, dormancy setting time is reserved after the task currently being operated is ended, and then inquiring the priority task again.
4. A multi-level small granularity motion scheduling control device for a robot according to claim 3, wherein the task query module is further configured to find a task with a highest priority according to a first-come-first-served scheduling order and then according to a depth-left query method of a tree data structure, if the task with the highest priority is a non-manual task when querying the task with the high priority.
5. A multi-level small granularity motion scheduling control device for a robot according to claim 3, wherein the task query module is further configured to find a task with a highest priority according to a first-come-first-served scheduling order and then according to a depth-left query method of a tree data structure, if the task with the highest priority is a non-manual task when querying the task with the high priority.
6. An apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of a robot multi-level small granularity motion scheduling control method according to claim 1 or 2.
7. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of a robot multi-level small-granularity motion scheduling control method according to claim 1 or 2.
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| CN112053066A (en) * | 2020-09-09 | 2020-12-08 | 上海有个机器人有限公司 | Multi-task scheduling method and device for robot and robot |
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