TW202232394A - Dynamic configuration method based on role assignation, electronic device, and medium - Google Patents
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本發明涉及製造領域,特別涉及一種基於角色指派的動態配置方法、電子設備及媒體。The present invention relates to the field of manufacturing, in particular to a dynamic configuration method, electronic equipment and media based on role assignment.
為了滿足不斷變化的市場,生產製造公司應該能夠適應靈活的製造要求。在生產要求不斷變化的情況下,生產製造公司必須調整其工廠操作。然而,重新配置工廠操作需要執行任務以符合生產計畫,並且需要相應地重新設計自主移動機器人。但是自主移動機器人不能輕易適應所述生產要求的變化,並且其重新配置也很費時。To meet changing markets, manufacturing companies should be able to adapt to flexible manufacturing requirements. With changing production requirements, manufacturing companies must adjust their factory operations. However, reconfiguring factory operations requires performing tasks to comply with production schedules, and autonomous mobile robots need to be redesigned accordingly. But autonomous mobile robots cannot easily adapt to changes in said production requirements, and their reconfiguration is time-consuming.
鑒於以上問題,本發明提出一種基於角色指派的動態配置方法、電子設備及媒體,可以使得自主移動機器人隨時適應生成要求的變化,提高生產能力。In view of the above problems, the present invention proposes a dynamic configuration method, electronic device and media based on role assignment, which can make the autonomous mobile robot adapt to the change of generation requirements at any time and improve the production capacity.
本發明提供一種基於角色指派的動態配置方法,應用在電子設備中,所述電子設備與多個機器人通訊連接,所述方法包括:根據目標計畫將一任務集定義為有組織的行為序列,每個任務包括一個特定角色及其執行行為;基於所述任務集啟動多個角色,其中,每個所述角色包括必備能力;基於所述必備能力為每個活躍角色選擇至少一個候選機器人;分配所述活躍角色至所述至少一個候選機器人;及控制所述候選機器人執行與每個已活躍角色相對應的行為。The present invention provides a dynamic configuration method based on role assignment, which is applied to an electronic device. The electronic device is communicatively connected with a plurality of robots. The method includes: defining a task set as an organized behavior sequence according to a target plan, Each task includes a specific role and its execution behavior; activate a plurality of roles based on the set of tasks, wherein each of the roles includes necessary capabilities; select at least one candidate robot for each active role based on the necessary capabilities; assign the active character to the at least one candidate robot; and controlling the candidate robot to perform a behavior corresponding to each active character.
在本發明一些實施方式中,所述方法還包括:若接收到所述候選機器人完成任務的回饋資訊,確定所述目標計畫的任務集中的所有任務是否都已完成;若所述任務集中存在至少一個任務未完成,基於未完成的任務繼續啟動多個角色;重複執行所述基於所述必備能力為每個活躍角色選擇至少一個候選機器人至控制所述候選機器人執行與每個已活躍角色相對應的行為,直到所述任務集中的所有任務都完成。In some embodiments of the present invention, the method further includes: if feedback information of the candidate robot completing the task is received, determining whether all tasks in the task set of the target plan have been completed; if the task set exists At least one task is not completed, continue to start multiple roles based on the unfinished task; repeat the selection of at least one candidate robot for each active role based on the necessary ability to control the candidate robot to perform a task corresponding to each active role. Corresponding behavior until all tasks in said task set are completed.
在本發明一些實施方式中,所述方法還包括:建立所述角色和任務之間的對應關係,所述任務包括特定角色及其執行內容。In some embodiments of the present invention, the method further includes: establishing a correspondence between the roles and tasks, and the tasks include a specific role and its execution content.
在本發明一些實施方式中,所述方法還包括:獲取每個機器人的能力,其中,所述機器人的能力至少包括物理能力、操作能力和感知能力。In some embodiments of the present invention, the method further includes: acquiring capabilities of each robot, wherein the capabilities of the robot at least include physical capabilities, operational capabilities, and perception capabilities.
在本發明一些實施方式中,每個所述角色還包括優選能力,所述方法還包括:基於所述角色的優選能力和所述機器人的能力為所述候選機器人評分,並得到得分結果;分配所述得分結果至所述候選機器人。In some embodiments of the present invention, each of the characters further includes a preferred ability, and the method further includes: scoring the candidate robot based on the preferred ability of the character and the ability of the robot, and obtaining a score result; assigning The scoring result is sent to the candidate robot.
在本發明一些實施方式中,所述分配所述活躍角色至所述至少一個候選機器人包括:遍歷多個所述活躍角色;若多個所述活躍角色中的第一目標角色選擇了多個第一候選機器人時,確定所述多個第一候選機器人的第一得分結果最高的第一目標候選機器人;繼續遍歷完多個所述活躍角色中的剩餘角色;若所述剩餘角色中的第二目標角色選擇了多個第二候選機器人,確定所述多個第二候選機器人的第二得分結果最高的第二目標候選機器人;若所述第一目標候選機器人與所述第二目標候選機器人為同一機器人,且第一最高得分結果大於第二最高得分結果,分配所述第一目標角色至所述第一目標候選機器人;若所述第一目標候選機器人與所述第二目標候選機器人為同一機器人,且所述第一最高得分結果小於所述第二最高得分結果,分配所述第二目標角色至所述第二目標候選機器人。In some embodiments of the present invention, the assigning the active character to the at least one candidate robot includes: traversing a plurality of the active characters; if the first target character of the plurality of active characters selects a plurality of first target characters When there is one candidate robot, determine the first target candidate robot with the highest first score result of the plurality of first candidate robots; continue to traverse the remaining roles in the plurality of active roles; if the second one of the remaining roles The target character selects a plurality of second candidate robots, and determines the second target candidate robot with the highest second score result of the plurality of second candidate robots; if the first target candidate robot and the second target candidate robot are The same robot, and the first highest score result is greater than the second highest score result, assign the first target role to the first target candidate robot; if the first target candidate robot and the second target candidate robot are the same robot, and the first highest score result is smaller than the second highest score result, assign the second target character to the second target candidate robot.
在本發明一些實施方式中,所述分配所述活躍角色至所述至少一個候選機器人還包括:若所述第一目標候選機器人與所述第二目標候選機器人為同一機器人,且所述第一最高得分結果等於所述第二最高得分結果,分配所述第一目標角色至所述第一目標候選機器人;或分配所述第一目標角色至所述第二目標候選機器人;或分配所述第二目標角色至所述第一目標候選機器人;或分配所述第二目標角色至所述第二目標候選機器人。In some embodiments of the present invention, the assigning the active role to the at least one candidate robot further includes: if the first target candidate robot and the second target candidate robot are the same robot, and the first target candidate robot is the same robot The highest scoring result is equal to the second highest scoring result, assigning the first target character to the first target candidate robot; or assigning the first target character to the second target candidate robot; or assigning the first target character two target characters to the first target candidate robot; or assign the second target character to the second target candidate robot.
在本發明一些實施方式中,所述分配所述活躍角色至所述至少一個候選機器人還包括:若所述第一目標候選機器人與所述第二目標候選機器人為不同的機器人,分配所述第一目標角色至所述第一目標候選機器人,且分配所述第二目標角色至所述第二目標候選機器人。In some embodiments of the present invention, the assigning the active role to the at least one candidate robot further includes: if the first target candidate robot and the second target candidate robot are different robots, assigning the first target candidate robot A target character is assigned to the first target candidate robot, and the second target character is assigned to the second target candidate robot.
在本發明一些實施方式中,所述方法還包括:建立所述角色、要執行的具有組織順序的行為、所述必備能力和所述優選能力之間的對應關係。In some embodiments of the present invention, the method further includes: establishing a correspondence between the roles, the behaviors to be performed with an organizational sequence, the required capabilities, and the preferred capabilities.
在本發明一些實施方式中,所述行為序列的執行完成意味著與分配的角色相關的任務的完成。In some embodiments of the present invention, the completion of the execution of the behavior sequence means the completion of the task associated with the assigned role.
本發明還提供一種電子設備,所述電子設備包括處理器;以及記憶體,所述記憶體中儲存有多個程式指令,所述多個程式指令由所述處理器載入並執行如上所述的基於角色指派的動態配置方法。The present invention also provides an electronic device, the electronic device includes a processor; and a memory, the memory stores a plurality of program instructions, the plurality of program instructions are loaded by the processor and executed as described above dynamic configuration method based on role assignment.
本發明提供一種電腦可讀儲存媒體,其上儲存有電腦程式,所述電腦程式被處理器執行時實現如前所述的基於角色指派的動態配置方法。The present invention provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the aforementioned dynamic configuration method based on role assignment is implemented.
本發明提供的基於角色指派的動態配置方法、電子設備及媒體,可以準確地對生產需求進行建模,並根據其功能動態地將任務分配給每個機器人。並且多種類型的機器人可以在高度動態的製造環境中高效工作。本發明可以隨時適應生成要求的變化,提高了機器人的利用率,提高生產能力。The role assignment-based dynamic configuration method, electronic device and media provided by the present invention can accurately model production requirements and dynamically assign tasks to each robot according to its functions. And many types of robots can work efficiently in highly dynamic manufacturing environments. The invention can adapt to the change of the generation requirements at any time, improves the utilization rate of the robot, and improves the production capacity.
為了能夠更清楚地理解本發明的所述目的、特徵和優點,下面結合圖式和具體實施例對本發明進行詳細描述。需要說明的是,在不衝突的情況下,本發明的實施例及實施例中的特徵可以相互組合。在下面的描述中闡述了很多具體細節以便於充分理解本發明,所描述的實施例僅是本發明一部分實施例,而不是全部的實施例。In order to understand the objects, features and advantages of the present invention more clearly, the present invention will be described in detail below with reference to the drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments may be combined with each other under the condition of no conflict. In the following description, many specific details are set forth in order to facilitate a full understanding of the present invention, and the described embodiments are only some, but not all, embodiments of the present invention.
除非另有定義,本文所使用的所有的技術和科學術語與屬於本發明的技術領域的技術人員通常理解的含義相同。本文中在本發明的說明書中所使用的術語只是為了描述具體的實施例的目的,不是旨在限制本發明。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention.
請參閱圖1,所述基於角色指派的動態配置方法的應用環境示意圖。在本發明中,所述基於角色指派的動態配置方法應用在多代理系統(Multi-Agent System,MAS)1中,所述多代理系統1包括電子設備10和多個機器人20。所述電子設備10和多個機器人20通訊連接。在一實施方式中,所述電子設備10可以是機器人控制伺服器(Robot Control Server,RCS),所述機器人20可以是自主移動機器人(Autonomous Mobile Robot,AMR)。需要說明的是,所述多代理系統1的電子設備可以不限於一個。Please refer to FIG. 1 , which is a schematic diagram of an application environment of the dynamic configuration method based on role assignment. In the present invention, the dynamic configuration method based on role assignment is applied in a multi-agent system (Multi-Agent System, MAS) 1 , and the multi-agent system 1 includes an electronic device 10 and a plurality of robots 20 . The electronic device 10 is connected to a plurality of robots 20 in communication. In one embodiment, the electronic device 10 may be a robot control server (Robot Control Server, RCS), and the robot 20 may be an autonomous mobile robot (Autonomous Mobile Robot, AMR). It should be noted that, the electronic device of the multi-agent system 1 may not be limited to one.
請參閱圖2,所示為本發明一實施方式中所述電子設備的示意圖。在本發明中,所述電子設備10,包括,但不僅限於,通訊模組111、記憶體112、至少一個處理器113,以及至少一條通訊匯流排114。上述通訊模組111、記憶體112和處理器113藉由所述通訊匯流排114電氣連接。Please refer to FIG. 2 , which is a schematic diagram of the electronic device according to an embodiment of the present invention. In the present invention, the electronic device 10 includes, but is not limited to, a communication module 111 , a memory 112 , at least one processor 113 , and at least one
在本實施方式中,所述通訊模組111用於透過有線或無線網路傳輸方式為所述電子設備10提供網路通訊功能。從而所述電子設備10和多個機器人20網路通訊連接。該有線網路可以為傳統有線通訊的任何類型,例如網際網路、局域網。該無線網路可以為無線電、無線保真(Wireless Fidelity, WIFI)、蜂窩、衛星、廣播、全球行動通訊系統(Global System for Mobile Communications ,GSM)、通用分組無線業務(General Packet Radio Service ,GPRS)、碼分多址(Code Division Multiple Access ,CDMA),寬頻碼分多址(W-CDMA)、 CDMA2000、 IMT單載波(IMT Single Carrier)、增強型資料速率GSM演進(Enhanced Data Rates for GSM Evolution, EDGE)、 長期演進技術(Long-Term Evolution,LTE) 、 高級長期演進技術、 時分長期演進技術(Time-Division LTE,TD-LTE) 、第五代行動通訊技術(5G)等無線通訊技術。In this embodiment, the communication module 111 is used to provide the electronic device 10 with a network communication function through wired or wireless network transmission. Therefore, the electronic device 10 is connected to a plurality of robots 20 through network communication. The wired network can be any type of traditional wired communication, such as the Internet, a local area network. The wireless network may be radio, Wireless Fidelity (WIFI), cellular, satellite, broadcast, Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS) , Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (W-CDMA), CDMA2000, IMT Single Carrier (IMT Single Carrier), Enhanced Data Rates for GSM Evolution (Enhanced Data Rates for GSM Evolution, EDGE), long-term evolution technology (Long-Term Evolution, LTE), advanced long-term evolution technology, time-division long-term evolution technology (Time-Division LTE, TD-LTE), fifth generation mobile communication technology (5G) and other wireless communication technologies.
在本實施方式中,該記憶體112用於儲存安裝於該電子設備10內的電腦程式130,例如基於角色指派的動態配置的程式。在本實施方式中,該記憶體112可以為該電子設備10的內部儲存單元,例如電子設備10的硬碟或記憶體。在其他實施方式中,該記憶體112也可以為該電子設備10的外部儲存裝置,例如該電子設備10上配備的插接式硬碟,智慧儲存卡(Smart Media Card, SMC),安全數位(Secure Digital, SD)卡,快閃記憶體卡(Flash Card)等。In this embodiment, the memory 112 is used to store the computer program 130 installed in the electronic device 10 , such as a program based on dynamic configuration of role assignment. In this embodiment, the memory 112 may be an internal storage unit of the electronic device 10 , such as a hard disk or a memory of the electronic device 10 . In other embodiments, the memory 112 can also be an external storage device of the electronic device 10 , such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital ( Secure Digital, SD) card, flash memory card (Flash Card), etc.
在本實施方式中,所述處理器113可以為中央處理單元(Central Processing Unit, CPU),或者其他能夠執行控制功能的微處理器或其他資料處理晶片。該處理器113用於執行軟體程式碼或運算資料等。例如,所述處理器113執行所述電腦程式130時實現如下文圖7中描述的基於角色指派的動態配置方法實施例中的步驟。示例性的,所述電腦程式130可以被分割成一個或多個模組/單元,所述一個或者多個模組/單元被儲存在所述記憶體112中,並由所述至少一個處理器113執行,以完成本發明。所述一個或多個模組/單元可以是能夠完成特定功能的一系列電腦可讀指令段,所述電腦可讀指令段用於描述所述電腦程式130在所述電子設備10中的執行過程。In this embodiment, the processor 113 may be a central processing unit (Central Processing Unit, CPU), or other microprocessors or other data processing chips capable of performing control functions. The processor 113 is used for executing software code or computing data and the like. For example, when the processor 113 executes the computer program 130, it implements the steps in the embodiment of the dynamic configuration method based on role assignment as described in FIG. 7 below. Exemplarily, the computer program 130 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 112 and processed by the at least one processor. 113 is executed to complete the present invention. The one or more modules/units may be a series of computer-readable instruction segments capable of accomplishing specific functions, and the computer-readable instruction segments are used to describe the execution process of the computer program 130 in the electronic device 10 .
請參考圖3,所示為本發明一實施方式中所述機器人的示意圖。在本實施方式中,所述機器人20可以為一個或多個。所述機器人20包括,但不限於,電池210、運動機構211、通訊模組212、感測器213、控制器214及執行機構215。上述電池210、運動機構211、通訊模組212、感測器213、控制器214及執行機構215之間電氣連接。Please refer to FIG. 3 , which is a schematic diagram of the robot according to an embodiment of the present invention. In this embodiment, the robot 20 may be one or more. The robot 20 includes, but is not limited to, a battery 210 , a motion mechanism 211 , a communication module 212 , a sensor 213 , a controller 214 and an
在本實施方式中,該電池210用於對所述運動機構211、通訊模組212、感測器213、控制器214及執行機構215進行供電。該運動機構211用於控制所述機器人移動。所述運動機構211可以是輪式的、履帶式的或腿式的機構或任何其他機械結構。該通訊模組212用於為所述機器人20和電子設備10之間提供網路連接。該控制器214用於接收電子設備10分配的角色和任務資訊,所述控制器214還可以控制所述機器人20根據所述角色和任務資訊執行任務。所述感測器213用於感測環境資訊。例如,所述感測器213可以是相機、距離感測器、鐳射掃描器等。所述執行機構215被配置為在環境中執行操作。例如,所述執行機構215可以是機械臂、杠桿、傳送帶等。In this embodiment, the battery 210 is used to supply power to the motion mechanism 211 , the communication module 212 , the sensor 213 , the controller 214 and the
在本實施方式中,所述機器人20還可以包括一充電單元(圖中未示出),所述充電單元用於為所述電池210提供電量。In this embodiment, the robot 20 may further include a charging unit (not shown in the figure), and the charging unit is used to provide power for the battery 210 .
本發明提供了一種基於角色指派的動態配置方法,可以準確地對生產需求中的目標計畫進行建模,得到多個任務,並根據其功能動態地將所述任務分配給每個機器人(例如AMR)。所述基於角色指派的動態配置方法包括代理操作過程和計畫執行過程。The present invention provides a dynamic configuration method based on role assignment, which can accurately model the target plan in production requirements, obtain multiple tasks, and dynamically assign the tasks to each robot according to its function (for example, AMR). The role assignment-based dynamic configuration method includes an agent operation process and a plan execution process.
請參閱圖4,所示為本發明一實施方式中代理操作過程的示意圖。Please refer to FIG. 4 , which is a schematic diagram of a proxy operation process in an embodiment of the present invention.
所述代理操作過程包括定義每個代理的能力,以及為每個代理20a分配角色30。所述角色30是一種抽象的描述。所述角色描述了所述代理20a必須執行的一組行為。每個代理20a一次必須擔當唯一的角色30。每個代理20a需要被分配一個角色30以執行行為。如圖4所示,所述角色30包括必備能力(Required Capabilities)310、優選能力320和行為集(Behavior Set)330。The agent operation process includes defining the capabilities of each agent and assigning
通常認為代理(Agent)具有自治性,可通訊性,交互性,推理能力和規劃能力,適應性等。在本發明中,所述代理20a由執行任務操作的任何類型的機器人20表示。在生產製造領域中,所述代理20a由每種可用的機器人20的類型表示。代理20a的能力40描述了特定代理20a的操作能力和局限性。例如,代理20a的能力包括物理能力410,操作能力420和感知能力430。所述物理能力410描述的是所述代理20a可以管理物理任務的程度。例如,有效載荷、位移速度、執行器等。所述操作能力420描述的是所述代理20a可以執行的若干任務,例如,移位、巡邏、揀選物件、放置物件、同步等。所述感知能力430描述的是所述代理20a能夠感知的環境資訊的能力。例如,對象識別、QR讀取器和RFID讀取器等作出回應的能力等。Agents are generally considered to have autonomy, communicability, interactivity, reasoning ability and planning ability, adaptability and so on. In the present invention, the
具體地,所述代理操作過程描述的是藉由將角色庫(Roles Library)中的角色分配給不同的代理,並且代理20a根據所述代理20a所能提供的能力(Provided Capabilities)來執行所述角色對應的行為。其中,所述代理20a所能提供的能力可以構成能力庫(Capabilities Library)。因此,在分配角色的時候,需要考慮所述角色必備能力和所述代理20a所能提供的能力是否匹配。Specifically, the agent operation process is described by assigning roles in the role library (Roles Library) to different agents, and the
請參閱圖5所示,所示為本發明一實施方式中計畫執行過程的示意圖。在本實施方式中,所述計畫50包括一組任務60,每個所述任務60可以包括多個所需角色610和計畫貢獻620。每個任務60都具有對應的優先順序。例如,在製造環境中,所述計畫50包括一組具有優先順序的操作要求。基於製造目標建立所述所需角色610。所述任務定義了滿足特定要求的命令,所述命令的成功執行被定義為計畫貢獻620。Please refer to FIG. 5 , which is a schematic diagram of a project execution process in an embodiment of the present invention. In this embodiment, the
在本實施方式中,所述角色30的行為描述了代理20a要執行的動作。行為70設計為執行任務的操作命令。如果代理20a屬於同一角色,則該代理20a可以同時執行多種行為70。In this embodiment, the behavior of the
請參閱圖6所示,為基於角色指派的動態配置方法的執行流程。在本實施方式中,所述執行流程從第一層執行到第二層,再從第二層執行到第三層。所述第一層包括動態計畫50,所述第二層包括所述動態計畫50的一系列任務60,所述第三層包括所述一系列任務對應的多個行為70。在一個實施例中,所述動態計畫50調整操作要求。根據操作要求和貢獻請求來安排任務60。藉由匹配行為70來選擇活躍角色30a,其中,所述行為70可以滿足所請求的貢獻。根據其能力40的最佳配合,將所述活躍角色30a分配給代理20a。所述執行流程保證計畫變更會自動重新調整貢獻請求,並增加靈活性。所述執行流程進一步保證僅考慮可以為計畫50做出貢獻的角色30,從而降低了複雜性。所述執行流程進一步保證代理20a將根據他們對計畫50做出貢獻的能力來分配任務負載,從而增加優化。Please refer to FIG. 6 , which is the execution flow of the dynamic configuration method based on role assignment. In this embodiment, the execution flow is executed from the first layer to the second layer, and then from the second layer to the third layer. The first layer includes a
請參閱圖7,圖7為本發明一個實施例提供的基於角色指派的動態配置方法的流程示意圖。所述基於角色指派的動態配置方法應用在所述電子設備10中,並且可以使用圖1至圖6所示的配置來執行所述基於角色指派的動態配置方法。根據不同的需求,所述流程圖中步驟的順序可以改變,某些步驟可以省略。為了便於說明,僅示出了與本發明實施例相關的部分。所述基於角色指派的動態配置方法包括以下步驟。Please refer to FIG. 7. FIG. 7 is a schematic flowchart of a dynamic configuration method based on role assignment provided by an embodiment of the present invention. The role-assignment-based dynamic configuration method is applied in the electronic device 10 , and the role-assignment-based dynamic configuration method may be performed using the configurations shown in FIGS. 1 to 6 . According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted. For the convenience of description, only the parts related to the embodiments of the present invention are shown. The dynamic configuration method based on role assignment includes the following steps.
步驟S01、所述電子設備10基於目標計畫的任務清單啟動多個角色,其中,每個所述角色包括必備能力和優選能力。Step S01, the electronic device 10 activates a plurality of roles based on the task list of the target plan, wherein each of the roles includes a necessary ability and a preferred ability.
在本實施方式中,所述目標計畫為生產製造過程中的計畫。例如,所述目標計畫是執行預定義的任務序列,並且需要將執行時間最小化。所述目標計畫包括需要執行的任務清單,所述任務清單包括多個任務需要說明的是,所述目標計畫中的每個任務都需要被賦予優先順序,並且該優先順序最初被設置為所述目標計畫的一部分。例如,如表1所示,任務清單包括任務0(Task0)、任務1(Task1)、任務2(Task2)和任務3(Task3)。所述任務0的優先順序高於所述任務1、任務2和任務3。如圖3所示,所述任務1的優先順序高於所述任務2和任務3,所述任務2的優先順序高於所述任務3。那麼,在執行所述目標計畫的時候,需要先執行任務0,再執行任務1,接著再執行任務2,最後執行任務3。
表1
在本實施方式中,所述任務清單中的多個任務可以是不同類型的任務。例如,如表2所示,所述任務的類型包括T1、T2和T3。不同類型的任務中的每個任務都需要角色。例如,如表2所示,類型T1所需角色是R1,類型T2所需角色是R2,類型T3所需角色是R3。
表2
在本實施方式中,所述角色的類型就是所述任務清單中的任務所需的角色類型。例如,所述角色的類型包括R1、R2和R3。In this embodiment, the type of the role is the type of role required by the task in the task list. For example, the types of roles include R1, R2, and R3.
步驟S02,所述電子設備10基於任務集啟動多個角色30,每個角色包括必備能力310和優選能力320。Step S02 , the electronic device 10 activates a plurality of
在本實施方式中,所述角色包括所需優選能力。所述角色的類型對應於所述必備能力。例如,如表3所示,類型R1的必備能力包括一個物理能力“PhysicalC1”的值大於或等於“x”、一個操作能力“OperationC1”和一個感知能力“PerceptionC1”。類型R2的必備能力包括其中一個物理能力“PhysicalC1”的值大於或等於“y”,另一個物理能力“PhysicalC2”的值大於或等於“v”,一個操作能力“OperationC1”和一個感知能力“PerceptionC1”。類型R3的必備能力包括一個物理能力“PhysicalC1”的值大於或等於“y”的,一個操作能力“OperationC1”,另一個操作能力“OperationC2”和感知能力“PerceptionC1”。其中,“x”對應的值大於“y”對應的值,而“w”對應的值大於“v”對應的值。In this embodiment, the roles include desired preferred abilities. The type of role corresponds to the required ability. For example, as shown in Table 3, the required capabilities of type R1 include a physical capability "PhysicalC1" with a value greater than or equal to "x", an operational capability "OperationC1", and a perception capability "PerceptionC1". Mandatory abilities of type R2 include one of the physical abilities "PhysicalC1" with a value greater than or equal to "y", another physical ability "PhysicalC2" with a value greater than or equal to "v", an operational ability "OperationC1" and a perception ability "PerceptionC1" ". Mandatory capabilities of type R3 include a physical capability "PhysicalC1" whose value is greater than or equal to "y", an operational capability "OperationC1", another operational capability "OperationC2", and a perception capability "PerceptionC1". Among them, the value corresponding to "x" is greater than the value corresponding to "y", and the value corresponding to "w" is greater than the value corresponding to "v".
在本實施方式中,所述角色還包括優選能力。例如,所述優選能力包括一個物理能力“PhysicalC2”。需要說明的是,所述優選能力不限於單一能力,也可以是其他能力。例如,感測器213的感測範圍、感知準確性和交互速度等。In this embodiment, the role further includes a preferred ability. For example, the preferred capability includes a physical capability "PhysicalC2". It should be noted that the preferred capability is not limited to a single capability, and may also be other capabilities. For example, the sensing range, sensing accuracy and interaction speed of the sensor 213, and the like.
在本實施方式中,所述角色還包括功績或評分機制。可以透過評分機制對與不同角色對應的機器人進行評分。所述評分機制包括評分功能。所述評分功能可以是機器人的“PhysicalC2”的值除以優選能力“PhysicalC2”的值。根據所述角色的優選能力的不同,所述評分功能也可能有所不同。可以根據所需用途定義評分功能的優選能力和度量。
表3
在本實施方式中,所述電子設備10在角色、要執行的具有組織順序的行為、以及必備能力、優選能力之間建立對應關係。In this embodiment, the electronic device 10 establishes a corresponding relationship among roles, behaviors to be performed with an organizational sequence, and necessary capabilities and preferred capabilities.
在本實施方式中,所述代理20a由其能力定義,並且必須相應地承擔角色。所述代理20a的能力包括多種物理能力、多種操作能力和多種感知能力。一個所述代理20a對應於一個機器人20,並且需要由所述機器人20執行某些行為。在該實施例中,所述機器人20是AMR。例如,如下表4所示,所述代理20a的類型包括類型A的AMR、類型B的AMR和類型C的AMR。對於類型A的AMR,其包括的能力有一個數值等於“x”的物理能力“PhysicalC1”、一個數值等於“v”的物理能力“PhysicalC2”,一個操作能力“OperationC1”和一個感知能力“PerceptionC1”。對於類型B的AMR,其包括的能力有一個數值等於“y”的物理能力,另一個數值等於“w”的物理能力“PhysicalC2”,一個操作能力“OperationC1”、另一個操作能力“OperationC2”和一個感知能力“PerceptionC1”。對於類型C的AMR,其包括的能力有一個數值等於“y”的物理能力“PhysicalC1”、一個數值等於“u”的物理能力“PhysicalC2”,一個操作能力“OperationC1”和一個感知能力“PerceptionC1”。其中,“x”對應的值大於“y”對應的值,“w”對應的值大於“v”對應的值,“v”對應的值大於“u”對應的值。
表4
在一實施方式中,在所述電子設備10基於所述任務集啟動多個角色之前,該方法還包括在角色30和任務60之間建立對應關係。所述任務60包括特定角色以及所述特定角色需要執行的內容。所述執行的內容包括要執行角色所需的所有參數。例如,給定一個需要傳輸角色的任務,所述執行的內容可以是所述傳輸角色的任務的起點和終點。所述角色30對應於所述任務60,並且根據所述角色30,是代理20a必須能夠執行與所述任務60相關的行為70。In one embodiment, before the electronic device 10 activates a plurality of roles based on the task set, the method further includes establishing a correspondence between the
在一實施方式中,在所述電子設備10基於所述任務集啟動多個角色之前,該方法還包括獲取每個機器人20的能力40。其中,所述機器人20的能力40至少包括物理能力410、操作能力420和感知能力430。需要說明的是,在本實施方式中,一個機器人20就是一個代理20a。In one embodiment, the method further includes acquiring the capabilities 40 of each robot 20 before the electronic device 10 activates the plurality of characters based on the task set. The capability 40 of the robot 20 includes at least a physical capability 410 , an operation capability 420 and a perception capability 430 . It should be noted that, in this embodiment, one robot 20 is one
步驟S03,所述電子設備10為每個活躍角色30選擇至少一個候選機器人20。在一實施方式中,可能存在一個或多個機器人20,其具有與一個或多個角色30的必備能力310相匹配的能力40。也就是說,多個候選機器人20可以適合一個角色30,或者可以是一個候選機器人20可以執行多個角色30,也可以是僅一個角色30適合一個候選機器人20的。Step S03 , the electronic device 10 selects at least one candidate robot 20 for each
在一個實施方式中,所述任務60與所述角色30有關,所述角色30與所述機器人20有關。因此,任務60的優先順序不會直接影響機器人20的選擇,但會藉由觸發角色30的分配而間接產生影響。如果只有一個機器人20可用,則電子設備10將僅啟動單個角色30並分配活躍角色30至所述機器人20(即使其他角色仍處於活躍狀態)。將被活躍角色30取決於任務60的優先順序,並且已活躍角色30將分配給一個可用的機器人20。即使可用的機器人20非常適合兩個角色30,也只有角色30與之相關更高優先順序的任務60將被請求分配。如果在特殊情況下不需要利用任務60的優先順序,則可以為每個任務60分配相同的優先順序。In one embodiment, the
在一個實施方式中,所述方法進一步包括:給每個候選機器人20分配一個成績或分數結果。給每個候選機器人分配分數的步驟包括:In one embodiment, the method further includes assigning each
(1)基於所述優選能力320和每個機器人20的能力40為每個機器人20評分,並獲取得分結果。例如,角色30的優選能力320可以是1m/s的位移速度,候選機器人20的能力40可以是1m / s的移動速度。候選機器人20的移動速度除以角色30的位移速度即可獲得得分。即,在這種情況下,得分結果是1分。(1) Score each robot 20 based on the preferred capability 320 and the capability 40 of each robot 20, and obtain a scoring result. For example, the preferred capability 320 of the
(2)分配所述得分結果至每個候選機器人20。需要說明的是,每個機器人20不需要知道其自己的得分,而僅需要知道其角色30。(2) Assign the scoring result to each candidate robot 20 . It should be noted that each robot 20 does not need to know its own score, but only needs to know its
步驟S04,所述電子設備10分配所述多個角色至所述至少一個候選機器人20。Step S04 , the electronic device 10 assigns the plurality of roles to the at least one candidate robot 20 .
在一個實施方式中,所述電子設備10將活躍角色30a分配給至少一個候選機器人20包括:所述電子設備10遍歷多個所述活躍角色並確定多個所述活躍角色中的第一目標角色是否選擇了一個第一候選機器人;若所述電子設備10確定所述第一目標角色選擇了所述第一候選機器人時,分配所述第一目標角色至所述第一候選機器人。若所述電子設備10確定所述第一目標角色選擇了多個所述第一候選機器人時,確定所述多個第一候選機器人的第一得分結果最高的第一目標候選機器人。所述電子設備10繼續遍歷完多個所述活躍角色中所述多個角色中的剩餘角色,並確定剩餘的所述活躍角色中的第二目標角色是否選擇了多個第二候選機器人。若所述電子設備10確定所述第二局部角色需要選擇多個第二候選機器人,確定所述多個第二候選機器人的第二得分結果最高的第二目標候選機器人。所述電子設備10確定所述第一目標候選機器人20與所述第二目標候選機器人20是否為同一機器人且第一最高得分結果是否小於第二最高得分結果。若所述電子設備10確定所述第一目標候選機器人與所述第二目標候選機器人為同一機器人,且所述第一最高得分結果大於所述第二最高得分結果,分配所述第一目標角色至所述第一目標候選機器人;若所述電子設備10確定所述第一目標候選機器人與所述第二目標候選機器人為同一機器人,且所述第一最高得分結果小於所述第二最高得分結果,分配所述第二目標角色至所述第二目標候選機器人。In one embodiment, the electronic device 10 assigning the active character 30a to at least one candidate robot 20 includes: the electronic device 10 traverses a plurality of the active characters and determines a first target character among the plurality of active characters Whether a first candidate robot is selected; if the electronic device 10 determines that the first target character has selected the first candidate robot, assign the first target character to the first candidate robot. If the electronic device 10 determines that the first target character has selected multiple first candidate robots, it determines the first target candidate robot with the highest first score result of the multiple first candidate robots. The electronic device 10 continues to traverse the remaining characters among the multiple active characters, and determines whether the second target character among the remaining active characters has selected multiple second candidate robots. If the electronic device 10 determines that the second partial character needs to select multiple second candidate robots, it determines the second target candidate robot with the highest second score result of the multiple second candidate robots. The electronic device 10 determines whether the first target candidate robot 20 and the second target candidate robot 20 are the same robot and the first highest scoring result is smaller than the second highest scoring result. If the electronic device 10 determines that the first target candidate robot and the second target candidate robot are the same robot, and the first highest score result is greater than the second highest score result, assign the first target role to the first target candidate robot; if the electronic device 10 determines that the first target candidate robot and the second target candidate robot are the same robot, and the first highest score result is less than the second highest score As a result, the second target character is assigned to the second target candidate robot.
在一實施方式中,所述電子設備10將活躍角色30a分配給至少一個候選機器人20還包括:所述電子設備10確定是否所有活躍角色30a都被分配至機器人20。若所述電子設備10確定還有活躍角色未分配,重複執行遍歷多個所述活躍角色至如果所述第一目標候選機器人與所述第二目標候選機器人為同一機器人,且所述第一得分結果小於所述第二得分結果,分配所述第二目標角色至所述第二目標候選機器人,直到所有的活躍角色30a都被分配完。In one embodiment, the electronic device 10 assigning the active character 30 a to the at least one candidate robot 20 further includes the electronic device 10 determining whether all active characters 30 a are assigned to the robot 20 . If the electronic device 10 determines that there are still active roles unassigned, it repeats the process of traversing a plurality of the active roles until if the first target candidate robot and the second target candidate robot are the same robot, and the first score If the result is less than the second scoring result, the second target character is assigned to the second target candidate robot until all the active characters 30a have been assigned.
在一實施方式中,如果電子設備10確定第一和第二目標候選機器人是同一機器人,並且第一最高得分結果等於第二最高得分,則電子設備10隨機分配第一目標角色或第二目標角色分配給第一或第二目標候選機器人。例如,電子設備10將第一目標角色分配給第一目標候選機器人20,或者將第一目標角色分配給第二目標候選機器人。可替代地,可以將第二目標角色分配給第一目標候選機器人,或者可以將第二目標角色分配給第二目標候選機器人20。In one embodiment, if the electronic device 10 determines that the first and second target candidate robots are the same robot, and the first highest score result is equal to the second highest score, the electronic device 10 randomly assigns the first target character or the second target character Assigned to the first or second target candidate robot. For example, the electronic device 10 assigns the first target character to the first target candidate robot 20, or assigns the first target character to the second target candidate robot. Alternatively, the second target character may be assigned to the first target candidate robot, or the second target character may be assigned to the second target candidate robot 20 .
在一實施方式中,如果電子設備10確定所述第一目標候選機器人與所述第二目標候選機器人為不同的機器人,分配所述第一目標角色至所述第一目標候選機器人,且分配所述第二目標角色至所述第二目標候選機器人。In one embodiment, if the electronic device 10 determines that the first target candidate robot and the second target candidate robot are different robots, assign the first target role to the first target candidate robot, and assign all from the second target character to the second target candidate robot.
在一實施方式中,如果需要由第二目標角色選擇的多個第二候選機器人中存在具有相同分數的多個候選機器人,則電子設備10將第二目標角色隨機分配給多個候選中的任意一個具有共同得分的機器人。例如,若所述第一目標候選機器人與所述第二目標候選機器人為同一機器人,且所述第一最高得分結果等於所述第二最高得分結果。所述電子設備10隨機分配所述第一目標角色或所述第二目標角色至所述第一目標候選機器人或所述第二目標候選機器人。例如,所述電子設備10分配所述第一目標角色至所述第一目標候選機器人;或分配所述第一目標角色至所述第二目標候選機器人;或分配所述第二目標角色至所述第一目標候選機器人;或分配所述第二目標角色至所述第二目標候選機器人。In one embodiment, if there are multiple candidate robots with the same score among the multiple second candidate robots selected by the second target character, the electronic device 10 randomly assigns the second target character to any of the multiple candidates. A bot with a common score. For example, if the first target candidate robot and the second target candidate robot are the same robot, and the first highest scoring result is equal to the second highest scoring result. The electronic device 10 randomly assigns the first target character or the second target character to the first target candidate robot or the second target candidate robot. For example, the electronic device 10 assigns the first target character to the first target candidate robot; or assigns the first target character to the second target candidate robot; or assigns the second target character to all the first target candidate robot; or assign the second target character to the second target candidate robot.
在一實施方式中,如果機器人20完成了其分配的任務,所述機器人將請求新的角色30。然後,所述電子設備10將向完成任務的機器人分配該機器人可以根據其能力執行的最高優先順序任務。在任務的優先順序相同的情況下,所述完成任務的機器人將根據其優選能力執行最適合的任務。In one embodiment, if the robot 20 completes its assigned task, the robot will request a
步驟S05,所述電子設備10控制所述候選機器人執行與每個已活躍角色相對應的行為。Step S05, the electronic device 10 controls the candidate robot to perform the action corresponding to each active character.
在一個實施方式中,在確定了與候選機器人相對應的任務之後,所述電子設備10將所述任務發送給相應的機器人,並向該機器人發送用於執行該任務的行為的命令指令。例如,所述電子設備10將Task0(T1)發送到AMR A1,並且將用於執行Task0(T1)的命令指令發送到AMR A1,並執行Task0(T1)的行為。In one embodiment, after determining the task corresponding to the candidate robot, the electronic device 10 sends the task to the corresponding robot, and sends the robot a command instruction for performing the behavior of the task. For example, the electronic device 10 sends Task0 (T1) to AMR A1, and sends a command instruction for executing Task0 (T1) to AMR A1, and executes the behavior of Task0 (T1).
步驟S06,所述電子設備10接收所述候選機器人完成任務的回饋資訊。Step S06, the electronic device 10 receives feedback information of the candidate robot completing the task.
步驟S07,所述電子設備10確定所述目標計畫的任務集中的所有任務是否都完成。若所述目標計畫的任務集中的所有任務都完成,流程結束;若所述目標計畫的任務集中的還有任務未完成,流程進入步驟S08。Step S07, the electronic device 10 determines whether all tasks in the task set of the target plan are completed. If all the tasks in the task set of the target plan are completed, the process ends; if there are still uncompleted tasks in the task set of the goal plan, the process proceeds to step S08.
步驟S08,所述電子設備10基於未完成的任務繼續啟動多個角色,之後流程進入步驟S03。Step S08, the electronic device 10 continues to activate a plurality of roles based on the unfinished task, and then the flow proceeds to step S03.
在一個實施方式中,如果所雇用的機器人已經完成任務,則機器人將回饋資訊發送到電子設備10,並且電子設備10基於未完成的任務繼續啟動多個角色,然後流程返回到步驟S03以重複執行任務。基於每個活躍角色30a的必備能力310選擇至少一個候選機器人,並且一個或多個候選機器人被命令於執行與所分配的角色相對應的行為70,直到任務列表中的所有任務完成為止。需要說明的是,機器人意味著所包含的行為的執行,而行為序列的執行的完成意味著與所分配角色有關的任務的完成。In one embodiment, if the employed robot has completed the task, the robot sends feedback information to the electronic device 10, and the electronic device 10 continues to activate multiple roles based on the unfinished task, and then the process returns to step S03 for repeated execution Task. At least one candidate robot is selected based on the prerequisite abilities 310 of each active character 30a, and the one or more candidate robots are instructed to perform the behavior 70 corresponding to the assigned character until all tasks in the task list are completed. It should be noted that the robot means the execution of the contained behavior, and the completion of the execution of the behavior sequence means the completion of the task related to the assigned role.
為了進一步說明本發明,下面結合實施例,對本發明提供的基於角色分配的動態配置方法進行詳細說明。In order to further illustrate the present invention, the following describes the dynamic configuration method based on role assignment provided by the present invention in detail with reference to the embodiments.
實施例1Example 1
給定以下機器人團隊,所述機器人團隊包括一個類型A的機器人,並將所述機器人命名為AMR A1;一個類型B的機器人,並將所述機器人命名為AMR B1;以及一個類型C的機器人,並將所述機器人命名為AMR C1,執行序列將按以下順序進行如下:Given the following team of robots that includes a robot of type A, and the robot is designated as AMR A1; a robot of type B, designated as AMR B1; and a robot of type C, And naming the robot as AMR C1, the execution sequence will proceed as follows:
(a)如下面的表5所示,所述電子設備10根據目標計畫的任務集啟動多個角色。所述活躍角色包括一個角色R1、兩個角色R2和一個角色R3。
表 5
(b)所述電子設備10為每個活躍角色30a選擇合適的候選機器人。在實施例1中,所述電子設備10根據活躍角色30a的“必備能力”310選擇候選機器人,並且基於活躍角色30a的“優選能力”320分配分數。如表6所示,角色R1適合AMR A1,角色R2適合AMR A1或AMR B1,角色R3適合AMR B1或AMR C1。根據表3和表4可知,角色為R1的AMR A1的得分為v/v分,角色為R2的AMR A1的得分為v/w分,角色為R2的AMR B1的得分為w/w分,角色為R3的AMR B1的得分為w/v分,角色為R3的AMR C1的得分為u/v分。其中w大於v,v大於u。
表 6
(c)所述電子設備10將活躍角色30a分配給每個候選機器人。在至少一個實施例中,所述將活躍角色分配給每個候選機器人包括:(c) The electronic device 10 assigns an active role 30a to each candidate robot. In at least one embodiment, the assigning an active role to each candidate robot comprises:
(c1)若活躍角色僅匹配一個合適的候選機器人,則直接將所述活躍角色分配給該機器人。例如,在表6中,角色R1只有一個候選機器人AMR A1,因此將表5的Task0(T1)分配給AMR A1。(c1) If the active character matches only one suitable candidate robot, directly assign the active character to the robot. For example, in Table 6, role R1 has only one candidate robot AMR A1, so Task0 (T1) of Table 5 is assigned to AMR A1.
(c2)每個剩餘的角色將分配給具有更高分數的AMR。例如,Task1(T3)對應的活躍角色為R3,最高分數為w/v分(AMR B1)。Task2(T2)對應的活躍角色為R2,最高分數為w/w分(AMR B1)。因此,將表5的Task2(T2)分配給AMR B1。(c2) Each remaining role will be assigned to an AMR with a higher score. For example, the active role corresponding to Task1 (T3) is R3, and the highest score is w/v score (AMR B1). The active role corresponding to Task2 (T2) is R2, and the highest score is w/w points (AMR B1). Therefore, Task2 (T2) of Table 5 is assigned to AMR B1.
(c3)重複執行前面的步驟(c1)和(c2),直到分配完所有的任務。例如,所述多代理人計畫執行設備10將表5的Task1(T3)分配給AMR C1,分配結果如下表7所示。
表 7
(d)所述電子設備10確定任務清單的Task3(T2)尚未完成,因此,所述電子設備10基於剩餘任務(Task3(T2))繼續啟動一個R2角色。如下表8所示,然後流程返回到步驟(b)。重複執行所述步驟(b)到步驟(d)。
表8
在本實施方式中,角色R2適合於AMR A1或AMR B1。角色R2的AMR A1的得分為v/w,角色R2的AMR B1的得分為w/w。因此,將表8的Task3(T2)分配給AMR B1。然後,表5的任務全部完成,最終得到的計畫執行的順序如下表9所示。
表 9
實施例2Example 2
假設存在另一個與A1相同的候選機器人,稱為A2。因此,機器人團隊包括一個類型A的機器人(稱為AMR A1)和一個類型A的機器人(稱為AMR A2),一個類型B的機器人(稱為AMR B1)和一類型C的機器人AMR(稱為AMR C1)。 AMR A2能夠執行角色R1。實施例2的計畫與實施例1的計畫相同,因此任務與表5相同。Suppose there is another candidate robot that is identical to A1, called A2. Therefore, the robotics team consists of one type A robot (called AMR A1) and one type A robot (called AMR A2), one type B robot (called AMR B1) and one type C robot (called AMR B1) AMR C1). AMR A2 is capable of performing role R1. The plan of Example 2 is the same as that of Example 1, so the tasks are the same as Table 5.
在實施例2中,所述電子設備10根據活躍角色30a的“必備能力”310選擇候選機器人,並基於活躍角色的“優選能力”320分配分數,以生成以下表10。角色R1適合AMR A1或AMR A2,角色R2適合AMR A1,AMR A2或AMR B1,角色R3適合AMR B1或AMR C1。根據表3和表4,角色為R1的AMR A1的得分為v/v分,角色為R1的AMR A2的得分也為v/v分,角色為R2的AMR A1的得分為v/w分,角色為R2的AMR A2的得分為v/w分,角色為R2的AMR B1的得分為w/w分,角色為R3的AMR B1的得分為w/v分。角色為R3的AMR C1的得分為u/v分。其中w大於v,v大於u。
表 10
反覆運算1:Repeat operation 1:
(1):沒有任何角色只對應一個候選機器人。(1): No role corresponds to only one candidate robot.
(2):每個角色將分配給得分更高的AMR。例如,Task0(T1)對應的活躍角色為R1,最高分數為v/v分(AMR A1&AMRA2)。Task1(T3)對應的活躍角色為R3,最高分數為w/v分(AMR B1)。Task2(T2)對應於對應的活躍角色為R2,最高分數為w/w分(AMR B1)。Task3(T2)對應的活躍角色為R2,最高分數為w/w點(AMR B1)。由於Task2(T2)的優先順序高於Task3(T2)的優先順序,因此將表5的Task2(T2)分配給AMR B1。(2): Each role will be assigned to the higher scoring AMR. For example, the active role corresponding to Task0 (T1) is R1, and the highest score is v/v score (AMR A1 & AMRA2). The active role corresponding to Task1 (T3) is R3, and the highest score is w/v score (AMR B1). Task2 (T2) corresponds to the corresponding active role as R2, and the highest score is w/w score (AMR B1). The active role corresponding to Task3 (T2) is R2, and the highest score is w/w points (AMR B1). Since the priority order of Task2 (T2) is higher than that of Task3 (T2), Task2 (T2) of Table 5 is assigned to AMR B1.
反覆運算2:Repeat operation 2:
(1):沒有任何角色只對應一個候選機器人。(1): No role corresponds to only one candidate robot.
(2):每個角色將分配給得分更高的AMR。例如,Task0(T1)對應的活躍角色為R1,最高分數為v/v分(AMR A1和AMR A2)。Task1(T3)對應的活躍角色為R3,最高分數為u/v分。Task3(T2)對應的活躍角色為R2,最高分數為v/w分(AMR A1&AMR A2)。將表5中的Task0(T1)分配給AMR A2。由於AMR A1和AMR A2都同樣適合執行Task0(T1),因此將隨機進行分配。然後將表5中的Task3(T2)分配給AMR A1。(2): Each role will be assigned to the higher scoring AMR. For example, the active role corresponding to Task0 (T1) is R1, and the highest score is v/v points (AMR A1 and AMR A2). The active role corresponding to Task1 (T3) is R3, and the highest score is u/v score. The active role corresponding to Task3 (T2) is R2, and the highest score is v/w points (AMR A1 & AMR A2). Assign Task0 (T1) in Table 5 to AMR A2. Since both AMR A1 and AMR A2 are equally suitable for executing Task0 (T1), they will be assigned randomly. Then assign Task3 (T2) in Table 5 to AMR A1.
反覆運算3:Repeat operation 3:
(1)角色R3只有一個候選機器人AMR A1,因此將表5中的Task1(T3)分配給AMR C1。由此得到如下表11所示的分配結果。
表 11
最後應說明的是,以上實施例僅用以說明本發明的技術方案而非限制,儘管參照較佳實施例對本發明進行了詳細說明,本領域的普通技術人員應當理解,可以對本發明的技術方案進行修改或等同替換,而不脫離本發明技術方案的精神和範圍。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be Modifications or equivalent substitutions can be made without departing from the spirit and scope of the technical solutions of the present invention.
1:多代理系統
10:電子設備
20:機器人
111、212:通訊模組
112:記憶體
113:處理器
114:通訊匯流排
130:電腦程式
210:電池
211:運動機構
213:感測器
214:控制器
215:執行機構
20a:代理
30:角色
30a:活躍角色
310:必備能力
320:優選能力
330:行為集
40:能力
410:物理能力
420:操作能力
430:感知能力
50:計畫
60:任務
610:所需角色
620:計畫貢獻
70:行為
S01~S08:步驟
1: Multi-agent system
10: Electronics
20: Robots
111, 212: Communication module
112: Memory
113: Processor
114: Communication bus
130: Computer programming
210: Battery
211: Movement Mechanisms
213: Sensor
214: Controller
215:
圖1是本發明一實施例所提供的基於角色指派的動態配置方法的應用環境示意圖。FIG. 1 is a schematic diagram of an application environment of a dynamic configuration method based on role assignment provided by an embodiment of the present invention.
圖2是本發明一實施例所提供的應用在所述基於角色指派的動態配置方法中的電子設備的結構示意圖。FIG. 2 is a schematic structural diagram of an electronic device applied in the role assignment-based dynamic configuration method provided by an embodiment of the present invention.
圖3是本發明一實施例所提供的應用在所述基於角色指派的動態配置方法中的機器人的結構示意圖。FIG. 3 is a schematic structural diagram of a robot applied in the dynamic configuration method based on role assignment provided by an embodiment of the present invention.
圖4為本發明一實施方式提供的基於角色指派的動態配置方法中的代理操作過程的示意圖。FIG. 4 is a schematic diagram of a proxy operation process in a role assignment-based dynamic configuration method according to an embodiment of the present invention.
圖5為本發明一實施方式提供的基於角色指派的動態配置方法中計畫執行過程的示意圖。FIG. 5 is a schematic diagram of a plan execution process in the dynamic configuration method based on role assignment provided by an embodiment of the present invention.
圖6為本發明一實施方式提供的基於角色指派的動態配置方法的執行流程的示意圖。FIG. 6 is a schematic diagram of an execution flow of a dynamic configuration method based on role assignment provided by an embodiment of the present invention.
圖7為本發明一實施方式提供的基於角色指派的動態配置方法的流程圖。FIG. 7 is a flowchart of a dynamic configuration method based on role assignment provided by an embodiment of the present invention.
S01~S08:步驟 S01~S08: Steps
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