WO2018077032A1

WO2018077032A1 - Task switching method and related device

Info

Publication number: WO2018077032A1
Application number: PCT/CN2017/105643
Authority: WO
Inventors: 刘杰
Original assignee: 菜鸟智能物流控股有限公司
Priority date: 2016-10-24
Filing date: 2017-10-11
Publication date: 2018-05-03
Also published as: CN107976918B; TW201816598A; CN107976918A

Abstract

Disclosed are a task switching method and a related device. Under the premise that a first task and an effective time interval for the first task are pre-configured for a robot, a second task and an effective time interval for the second task are configured for the robot; when it is determined that the robot is within the effective time interval for the second task, the robot may be switched to the second task and is controlled according to a second action set corresponding to the second task to execute a second function of the second task. Hence, a robot may be configured with multiple tasks, and the effective time intervals in which the robot is may serve as the basis for implement switching between the tasks; since a task server may have action sets for different tasks, after a robot is switched between tasks, the robot may be controlled to implement the function of the task, to which the robot is switched, according to the action set corresponding to the task, thereby implementing high-efficiency task switching of the robot, to allow a robot to be able to achieve functions of different tasks.

Description

Task switching method and related device

The present application claims priority to Chinese Patent Application No. Serial No. No. No. No. No. No. No. No. No. No. No. No. No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No

Technical field

The present invention relates to the field of data processing, and in particular, to a task switching method and related apparatus.

Background technique

With the development of robotics, robots can replace people to complete various tasks and achieve various functions.

In the traditional way, the functions that the robot can achieve are relatively simple, so the control commands for the robot are solidified in the local storage space of the robot, and the robot realizes a single function through the instruction of the control command. If you want to make the robot function realize new functions, you need to re-develop new control commands for the robot and solidify it into the robot's local storage space to enable the robot to implement new functions.

It can be seen that if the functions implemented by the robot need to be changed at present, the change process will be time consuming and cumbersome.

Summary of the invention

In order to solve the above technical problem, the present invention provides a task switching method and related apparatus, which realizes high-efficiency task switching to a robot.

The embodiment of the invention discloses the following technical solutions:

In a first aspect, the present invention provides a task switching method, which is applied to a task server, where the task server provides a first task, where the first task includes a type of a first function performed and a first action set, where the An action set is a set of actions for implementing the first function, and the task server is pre-configured with the first task and an effective time interval of the first task for the robot; the method includes:

Configuring a second task and an effective time interval of the second task for the robot, the second task including a type of the second function performed and a second action set, the second action set being used to implement the second a collection of functional actions;

Determining a time interval in which the robot is located;

If in the effective time interval of the second task, switching the robot to the second task, and controlling the robot to perform the second function in the second task according to the second action set.

Optionally, the determining a time interval in which the robot is located includes:

If the effective time interval of the second task is also in the effective time interval of the first task, the priorities of the first task and the second task are further compared;

If the priority of the second task is higher than the priority of the first task, performing the step of switching the robot to the second task.

Optionally, before performing the step of switching the robot to the second task, the method further includes:

Determining whether the robot has a first function of the first task that has not been performed;

If yes, after the robot waits for the task of the unexecuted first task to be executed, the step of switching the robot to the second task is performed.

Optionally, the setting manner of the priority of the first task includes setting in advance or setting when configuring the first task for the robot;

The setting manner of the priority of the second task includes setting in advance or setting when the second task is configured for the robot.

Optionally, the comparing the priorities of the first task and the second task, including:

If the priority of the first task is higher than the priority of the second task, the robot is retained under the first task.

Optionally, after the switching the robot to the second task, the method further includes:

Determining a time interval in which the robot is located;

If in the effective time interval of the first task, switching the robot to the first task, and controlling the robot to perform the first function in the first task according to the first action set.

Optionally, the second task is preset in the task server.

Optionally, the second action set includes a plurality of action components and a workflow for indicating an execution order between the action components.

Optionally, the configuring the second task for the robot includes:

Determining a plurality of action components required to implement the second function, and a workflow for indicating an order of execution between the action components;

Generating the second set of actions according to the plurality of components and corresponding workflows required to implement the second function;

The second task is configured for the robot according to the second function and the second set of actions.

Optionally, the controlling the robot to perform the second work in the second task according to the second action set Yes, including:

Generating a first control instruction according to the first action component in the second action set, and transmitting the first control instruction to the robot;

Obtaining processing information of the robot for feedback of the first control instruction;

Generating a second control instruction according to the second action component in the second action set, and sending the second control instruction to the robot, where the second action component is in a workflow of the second action set An action component to be executed after the execution of the first action component in the execution order of the indication;

And generating, according to the processing information fed back by the robot and the execution sequence indicated by the workflow of the second action set, a control instruction sent to the robot, until the robot completes the second function in the second task.

Optionally, the first task further includes: performing an area of the first function, where the second task further includes: performing an area of the second function, where the controlling the robot is performed according to the second action set The tasks in the second task include:

Controlling, by the second set of actions, the second function of the second task in an area in which the performing the second function is performed.

In a second aspect, the present invention provides a task switching apparatus, which is applied to a task server, where the task server provides a first task, the first task includes a type of the first function executed and a first action set, the first An action set is a set of actions for implementing the first function, the task server is pre-configured with the first task and an effective time interval of the first task for the robot; the device includes a configuration unit, a determining unit, and a switch unit:

The configuration unit is configured to configure, for the robot, a second task and an effective time interval of the second task, where the second task includes a type of the executed second function and a second action set, where the second action set is a set of actions for implementing the second function;

The determining unit is configured to determine a time interval in which the robot is located; if in an effective time interval of the second task, triggering the switching unit;

The switching unit is configured to switch the robot to the second task, and control the robot to perform a second function in the second task according to the second action set.

Optionally, the determining unit is further configured to: if the time interval in which the robot is located is both in an effective time interval of the second task and in an effective time interval of the first task, further comparing the first time The priority of the task and the second task;

The switching unit is triggered if the priority of the second task is higher than the priority of the first task.

In a third aspect, the present invention provides a task server, the task server providing a first task, the first task including a type of a first function performed and a first action set, the first action set being used for Implementing the action set of the first function, the task server is pre-configured with the first task and an effective time interval of the first task for the robot; the task server includes a memory and a transmitter, and the memory and the respectively a processor connected to the transmitter, the memory is configured to store a set of program instructions, and the processor is configured to invoke the program instructions stored in the memory to perform the following operations:

Triggering the transmitter to configure a second task and an effective time interval of the second task for the robot, the second task including a type of the executed second function and a second action set, the second action set being used for An action set that implements the second function;

Determining a time interval in which the robot is located;

If in the effective time interval of the second task, triggering the transmitter to switch the robot to the second task, and controlling the robot to perform the second task according to the second action set Two functions.

Optionally, the processor is further configured to invoke the program instructions stored in the memory to perform the following operations:

If the priority of the second task is higher than the priority of the first task, triggering the transmitter to switch the robot to the second task.

If yes, after the robot waits for the task of the unexecuted first task to be executed, triggering the transmitter to switch the robot to the second task.

Determining a time interval in which the robot is located;

If in the effective time interval of the first task, triggering the transmitter to switch the robot to the first task, and controlling the robot to perform the first task in the first task according to the first action set A feature.

Optionally, the second task is preset in the task server.

Triggering the transmitter to configure the second task for the robot according to the second function and the second set of actions.

Optionally, the task server further includes a receiver, the receiver is connected to the processor, and the processor is further configured to invoke the program instructions stored by the memory to perform the following operations:

Generating a first control instruction according to the first action component in the second action set, and triggering the transmitter to send the first control instruction to the robot;

Triggering the receiver to acquire processing information that the robot feeds back to the first control instruction;

Generating a second control instruction according to the second action component in the second action set, and triggering the transmitter to send the second control instruction to the robot, where the second action component is in the second action An action component to be executed after executing the first action component in an execution order indicated by the set workflow;

Optionally, the first task further includes: performing an area of the first function, the second task further includes performing an area of the second function, and the processor is further configured to invoke the program stored in the memory The instruction performs the following operations:

In a fourth aspect, the present invention provides a task switching method, which is applied to a robot, which is pre-configured by a server with a first task and an effective time interval of the first task, and the robot is pre-configured by the server. a second task and an effective time interval of the second task, the first task including a type of the first function executed and a first action set, the second task including a type of the executed second function and a second action set, The second set of actions is a set of actions for implementing the second function; the robot implements the first function by performing a first set of actions, the method comprising:

The robot acquires a first switching command from the server, where the first switching command is used to instruct the robot to switch to the second task;

The robot switches from the first task to the second task according to the first switching command;

The robot controls the robot to perform a second function in the second task according to the second action set.

Optionally, after the robot switches from the first task to the second task according to the switching command, the method further includes:

The robot acquires a second switching command from the server, where the second switching command is used to instruct the robot to switch to the first task;

The robot switches from the second task to the first task according to the second switching command;

The robot controls the robot to perform a first function in the first task according to the first action set.

In a fifth aspect, the present invention provides a task switching apparatus, which is applied to a robot, which is pre-configured by a server with a first task and an effective time interval of a first task, the robot being pre-configured with a second task by the server and An effective time interval of the second task, the first task comprising a type of the first function performed and a first action set, the second task comprising a type of the executed second function and a second action set, the second The action set is a set of actions for implementing the second function; the robot implements the first function by executing a first action set, the device comprising an acquisition unit, a switching unit, and an execution unit:

The acquiring unit is configured to acquire a first switching command from the server, where the first switching command is used to instruct the robot to switch to the second task;

The switching unit is configured to switch from the first task to the second task according to the first switching command;

The executing unit is configured to control the robot to perform a second function in the second task according to the second action set.

Optionally, the acquiring unit is further configured to acquire a second switching command from the server, where the second switching command is used to instruct the robot to switch to the first task;

The switching unit is further configured to switch from the second task to the first task according to the second switching command;

The execution unit is further configured to control the robot to perform a first function in the first task according to the first action set.

In a sixth aspect, the present invention provides a robot that is pre-configured by a server with a first task and an effective time interval of the first task, the robot being pre-configured by the server with a second task and an effective time of the second task And the first task includes a type of the first function executed and a first action set, the second task includes a type of the executed second function and a second action set, and the second action set is used to implement a set of actions of the second function; the robot implementing the first function by performing a first set of actions, the robot comprising a memory and a receiver, and a processor coupled to the memory and the receiver, respectively The memory is configured to store a set of program instructions, and the processor is configured to invoke the program instructions stored in the memory to perform the following operations:

Triggering the receiver to acquire a first switching command from the server, where the first switching command is used to instruct the robot to switch to the second task;

Switching from the first task to the second task according to the first switching command;

Controlling, by the second set of actions, the second function of the second task is performed by the robot.

Triggering the receiver to acquire a second switching command from the server, the second switching command is used to instruct the robot to switch to the first task;

Switching from the second task to the first task according to the second switching command;

Controlling the robot to perform a first function in the first task according to the first action set.

As can be seen from the above technical solution, the task server has a first task set in advance, the first task includes a type of the first function executed and a first action set, and the robot has the first task and the first configured in advance. Under the premise of the effective time interval of the task, the second task and the effective time interval of the second task are configured for the robot, and when the robot is determined to be in the effective time interval of the second task, the robot can be switched to the second task. And controlling, according to the second action set corresponding to the second task, the second function of the second task is performed by the robot, it can be seen that the present invention can configure multiple tasks for the robot, and the time interval in which the robot is located is used as a basis for switching tasks. Since the task server has a set of actions corresponding to different tasks, after switching the tasks of the robot, the robot can be controlled according to the action set corresponding to the switched task, thereby realizing the high-efficiency task switching to the robot. Enable the same robot to perform functions under different tasks

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any inventive labor.

FIG. 1 is a schematic diagram of a system for task switching according to an embodiment of the present invention;

2 is a flowchart of a method for task switching according to an embodiment of the present invention;

FIG. 3 is a flowchart of another method for task switching according to an embodiment of the present invention;

4 is a structural diagram of a device of a task switching apparatus according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a hardware of a task server according to an embodiment of the present invention;

FIG. 6 is a flowchart of a method for a task switching method according to an embodiment of the present invention;

FIG. 7 is a structural diagram of a device of a task switching apparatus according to an embodiment of the present invention;

FIG. 8 is a hardware structural diagram of a robot according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly described in conjunction with the drawings in the embodiments of the present invention. Some embodiments, rather than all of the embodiments, are invented. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

With the development of information technology, the application of robots in daily work and life is more and more common. In some tasks, robots are usually used instead of manual execution of the corresponding work, but currently the robot's work tasks and workflows are too patterned, and the robot can only work under pre-set tasks. When the robot is required to perform a work task under a new task, it is necessary to re-do the corresponding software settings for the robot, and the setting process is cumbersome and time consuming. If the robot can achieve efficient switching under different tasks, the efficiency of the robot will be greatly improved.

To this end, an embodiment of the present invention provides a task switching method and related apparatus, in which a correspondence relationship between a task and an action set is set in advance in a task server, a task and an effective time interval of the task are configured, and a time interval in which the robot is located is determined. Based on this, the task is switched, and the robot is controlled according to the action set of the task, thereby achieving high-efficiency task switching to the robot, so that the same robot can perform tasks under different tasks.

Based on the above basic idea, the embodiment of the present invention is mainly implemented by interaction between a task server and a robot. Referring to FIG. 1, the task server 100 can provide one or more tasks, each of which includes a corresponding function. And a set of actions for implementing the function, wherein the first task may be one of the preset tasks, and the first task includes a type of the first function executed and a first action set. The task server 100 can provide tasks in a variety of ways, such as presetting tasks in the task server 100, or the task server 100 can obtain tasks from other devices or pathways.

The task server 100 may be configured with the first task and the effective time interval of the first task for the robot 200 in advance. The first task may be a task set in the task server, and the first action set is a set of actions for implementing the first function specified by the first task. For example, implementing the first function requires multiple steps, and each step needs to pass Implementing an action component is implemented, and a set of multiple action components having an execution order can be understood as a set of actions. In addition to the first task, the task server can also be configured with a correspondence between other tasks and action sets. In Figure 1, the first task is a task associated with the delivery of the item, and the first function can be the delivery of the item.

In the embodiment of the present invention, a task has a function of a specified implementation. When a task is configured for a robot, the robot can implement the function specified by the task within a time interval specified by the task. The action set corresponding to a task can be used to control the robot to implement the function specified by the task. For example, the robot can implement the first function by executing the first action set, so the action set of the one task is equivalent to the task specified by the task. The specific way of function. The functions specified by different tasks can be different or the same. The function specified by a task can be a function that the robot can implement, for example, it can include the delivery of articles, the reception of packages, the display of robot functions, and the like.

When configuring a task for the robot, the task can be configured with a corresponding effective time interval for indicating that the robot can complete the function specified by the task within the valid time interval. Taking the robot 200 in advance with the first task and the effective time interval of the first task as an example, it is equivalent to clarifying that the robot 200 can implement the first function specified by the first task in the effective time interval of the first task. For example, the carried items are sequentially delivered to the three positions A, B, and C shown in FIG.

The effective time interval configured for a task may include one or more time periods. When the robot is within the effective time interval of a task, the robot can perform the work done by the specified function by implementing the functions specified by the task. For example, the function of a task is to deliver goods, then the work under this task can be carried to carry a specific number of items. The number of jobs under one task is not limited. The effective time interval of this task and the time to complete a job are related. For example, the effective time interval of a task configured for a robot is 8 to 12 points. The function specified by the task is The item is delivered, then from 8 o'clock, the robot carries a batch of items to start delivery (equivalent to one of the tasks). After the items are delivered, the robot carries another item again to start delivery (also equivalent to One of the tasks in this task), looping back and forth until 12 o'clock.

On the basis that the first task and the effective time interval of the first task are configured for the robot, the The robot configures the second task and the effective time interval of the second task. The second task here is different from the first task, and the robot can implement the function specified by the second task through the second action set under the second task. In Figure 1, the second task is a task associated with the robot display, and the second function can be a presentation.

Since the first task and the second task are all configured with corresponding effective time intervals, it can be determined whether to switch the task configured by the robot by determining the time interval in which the robot is currently located. For example, the robot can be switched to the second task when the robot is in the effective time interval of the second task, and the robot is instructed to implement the function specified by the second task to complete the work in the second task.

In order to be able to clarify the function of the foregoing task switching in the embodiment of the present invention, the task switching method provided by the embodiment of the present invention is described below with reference to FIG. 2 .

FIG. 2 is a flowchart of a method for a task switching method according to an embodiment of the present invention, where the method includes:

S201: configuring a second task and a valid time interval of the second task for the robot, where the second task includes a type of the executed second function and a second action set, where the second action set is used to implement the second A collection of functional actions.

The task server can add a configured task to the robot according to the requirements of the specific application task. If the robot needs to implement the function under the new task, the new task can be configured for the robot, and the new task can be called differently from the preset first task. Second task.

On the premise that the robot is pre-configured with the first task and the effective time interval of the first task, the effective time interval of the second task and the second task is configured for the robot. The effective time interval of the configuration task is to be based on the effective time interval when the task switching needs to be performed in subsequent operations.

When the conditions are met, the task of the robot can be quickly switched so that the robot can implement the functions specified by the second task. In a specific implementation, the first task configured for the robot in advance may be a default task, and the second task configured for the robot may be a temporary task.

It should be noted that, in the embodiment of the present invention, the second task must not be configured for the robot after the first task. In some cases, the first task and the second task may be pre-configured for the robot at the same time, but the default is only The robot is in the first mission.

Since the type of the second function specified by the second task has been clarified by the second task, the task server can determine the action set capable of implementing the second function according to the type of the second function. The set of actions that can implement the second function can be the second set of actions of the corresponding second task.

S202: Determine a time interval in which the robot is located. If it is in the effective time interval of the second task, S203 is performed.

Before the task server performs the determining step, the robot must have configured at least two tasks and effective time intervals of the tasks for the robot, so that different tasks can be switched. The following will introduce the first task and the second task as an example.

The first task and the effective time interval of the first task and the effective time interval of the second task and the second task are stored in the task server. The task server compares the current time with the stored effective time interval and checks which effective time interval the current time belongs to, that is, the time interval in which the robot is located can be determined. For example, the effective time interval of the first task is set from 9:00 am to 11:00 am, and the second task effective time is set from 1 pm to 4 pm. If the current time is 3:00 pm, the task server can determine that the current time belongs to The effective time interval of the second task, that is, the time interval in which the robot is located is the effective time interval of the second task. If the current time is 10:00 am, the task server can determine that the current time belongs to the effective time interval of the first task, that is, it can be determined that the time interval in which the robot is located is the effective time interval of the first task, and the task can be switched. Keep the robot in the first mission. When the time the robot is in the effective time interval of the first task, the robot implements the function of the first task according to the default first task. For the subsequent operations of the first task, no further details are provided here.

S203: Switch the robot to the second task, and control the robot to perform a second function in the second task according to the second action set.

When task switching is required, the task server controls the robot to complete the task switching, and controls the robot to perform the functions in the task according to the action set of the switched task.

Taking the first task and the second task as an example, the S204 needs to perform the switching because before S201, the correspondence between the first task and the first action set has been preset in the task server, and the first task is generally the robot default. The task, that is, when the robot does not receive a new instruction, the work in the first task is completed by executing the first action set by default in the effective time interval of the first task. Therefore, when the task server determines that the time the robot is in the effective time interval of the second task, the robot needs to be switched from the original first task to the second task.

Specifically, the switching of tasks can be completed by sending a switching instruction to the robot. For example, when the time when the robot is in the effective time interval of the second task, the task server sends a switching instruction to the robot (the switching instruction carries the information of the second task), and the robot receives the switching instruction by the default A task mode is switched to the second task.

Alternatively, the robot may not be aware of the switching of the task, and the task server completes the task switching to the robot in the background, and then controls the second execution of the second task in the second task by the second action set corresponding to the second task. Can, in order to achieve the effect of the robot to complete different tasks under different tasks.

After the robot switches to the second task, the task server can control the second function of the second task according to the second action set determined by S202.

All of the tasks mentioned above include the type of functionality, and different tasks can be differentiated according to the type of functionality they contain. For example, the first function specified by the first task is a delivery package, the type of the first function is a delivery type; the second function specified by the second task is a presentation, and the type of the second function is a presentation type.

In order to define a task more accurately, a task may include, in addition to the type of the specified function, an area in which the function is performed to indicate in which area the robot performs the function. For example, the first task is to deliver the parcel in Hall 9, and the second task is to distribute the parcel in Hall 10. The first task and the second task are two different tasks, but the two tasks include the same type of functions, all of which are delivered. Type, but the areas of Halls 9 and 10 are different areas. Thus, different tasks are distinguished according to the area in which the function is performed. Of course, the two tasks can also be tasks with different types of functions and functions. For example, the first task is to distribute parcels in Hall 9, and the second task is to show in Hall 10.

Taking the first task and the second task as an example, the first task may include an area for performing the first function in addition to the type of the first function; the second task may include, in addition to the type of the second function, the second task. The area in which the second function is performed. When the robot performs the work in the first task, specifically, according to the first action set, the robot is controlled to perform the first task by performing the first function in a prescribed area; when the robot is executing When the task in the second task is described, specifically, according to the second action set, the robot is controlled to perform the second task by performing the second function in a predetermined area.

For the case where the task further includes an area for performing the function, the task server controls the robot to perform the function in the task according to the action set, and specifically may control the function of the robot in the area where the function is executed according to the action set.

According to the area of the execution function included in the task, the scope of a task can be more accurately defined, and the task can be distinguished, so that the task server can control the robot to perform work in the designated area according to the area included in the task.

It can be seen that, in this embodiment, a task switching method is provided. The task server has a preset first task, where the first task includes a type of the first function executed and a first action set, where the robot has the pre-configured Under the premise of the first task and the effective time interval of the first task, the second task and the effective time interval of the second task are configured for the robot, and when the robot is determined to be in the effective time interval of the second task, the robot can be Switching to the second task, and controlling the robot to perform the second task according to the second action set corresponding to the second task The second function can be seen that the present invention can configure a plurality of tasks for the robot, and the time interval in which the robot is located is used as a basis for switching tasks. Since the task server has a set of actions corresponding to different tasks, after switching the tasks of the robot, The robot can be controlled according to the set of actions corresponding to the switched task, thereby achieving high-efficiency task switching to the robot, so that the same robot can perform functions under different tasks.

Embodiment 2

Based on the corresponding embodiment of FIG. 2, the present embodiment is directed to a detailed description of different situations that may occur when determining the time interval in which the robot is located. FIG. 3 is a flowchart of another method for task switching according to an embodiment of the present invention, where the method includes:

S301: Configuring a second task and a valid time interval of the second task for the robot, where the second task includes a type of the executed second function and a second action set, where the second action set is used to implement the second A collection of functional actions.

S302: Determine a time interval in which the robot is located. If it is in the effective time interval of the second task and also in the effective time interval of the first task, S303 is performed.

A task can be configured with one or more valid time intervals, and multiple valid time intervals corresponding to a task do not overlap each other. However, for different tasks, there may be cases where the corresponding effective time intervals overlap. For example, the effective time interval for the first task configuration is from 9:00 am to 11:00 am, and the effective time interval for the second task configuration is from 8:00 am to 10:00 am, and the first task is from 9:00 am to 10:00 am. The portion of the effective time interval overlapped with the effective time interval of the second task, when the time of the robot is 9:30 am, the task server determines that the time interval of the robot is both the effective time interval of the first task, and It is the effective time interval of the second task, and for a robot, it is impossible to implement the functions specified by two different tasks at the same time, and it is impossible to perform the work of two different tasks at the same time. Therefore, for this case, the determination of the priority may be further performed in S303, thereby determining whether the robot performs the work of the first task or the work of switching to the second task to perform the second task.

S303: Determine whether the priority of the second task is higher than the priority of the first task. If the priority of the second task is higher than the priority of the first task, S304 is performed.

The priority may be a setting for indicating the importance of the task. The priority may be set to multiple levels according to actual needs, for example, it may be divided into high priority, medium priority, low priority, and the like. When the time interval in which the robot is located belongs to the effective time interval in which two or more tasks overlap, you can compare the priorities of each task. Level, determine the specific task of whether the robot needs to switch tasks or need to switch.

In the embodiment of the present invention, the first task and the second task are set with different levels of priority, so that when there is overlap in the effective time interval of the first task and the second task, according to the first task and the second task The priority level determines how to perform task switching. For example, when two time-priority tasks exist in the time interval in which the robot is located, the robot can be switched to a high-priority task, or the robot can continue to be in a high-priority task without task switching.

The priority level of the task may be determined according to the type of function included in a task. For example, the type of the function of the first task is the delivery type, and the type of the function of the second task is the presentation type, if the delivery type is more important than the presentation type. , the first task can be set to high priority and the second task to low priority.

The priority level of the task may also be determined according to the area included in the task. For example, the area where the first function is performed by the first task is the hall No. 9, and the area where the second function performs the second function is the park. In a different area, if Hall 9 is more important than the park, the first task can be set to high priority and the second task to low priority.

There are many options for setting the priority of the task. For example, the priority can be set in advance, that is, the priority of the task is set when the task server sets the task. It is also possible to set the priority of the task as required when the task server configures the task for the robot.

For the priority of a pre-set task, considering the variability of the actual situation, it may be necessary to change the previously set priority. At this time, the priority of the task can be set again when the task is configured for the robot. For example, the task server sets the task to a low priority when configuring the task. When the task needs to be configured for the robot, if the situation of the task is urgent and requires the robot to be prioritized, the task can be configured for the robot. Change its priority to high priority.

The following will introduce the first task and the second task as an example.

When the time interval in which the robot is located belongs to a time interval in which the first task and the second task overlap, the priorities of the first task and the second task may be further compared. When the priority of the second task is higher than the priority of the first task, S304 is performed.

It should be noted that when the priority of the first task is higher than the priority of the second task, the robot remains under the first task and continues to perform the task in the first task.

In the embodiment of the present invention, the corresponding task is selected according to the effective time interval. When the time interval in which the robot is located belongs to the effective time interval of multiple tasks, the priority of the tasks may be compared, when the robot is not in the high priority task. Task switching, allowing the robot to prioritize high-priority tasks and enhance control of the robot Ability to improve the user experience.

S304: Determine whether the robot has a first function of the first task that has not been executed; if yes, execute the first function.

After the priority judgment of S303, it is determined that the priority of the second task is higher than the priority of the first task, and the robot needs to switch to the second task, and the robot is prepared in consideration of obtaining the priority judgment result. When switching to the second task, the robot may be in the process of executing the first function in the first task. At this time, if the robot is directly switched to the second task and the robot is controlled to perform the second function in the second task, The work of the first task being executed cannot be processed. For example, when the first function in the first task being executed by the robot is to deliver the package, if the robot is switched to the second task before proceeding to the delivery position of the package, and then the second function of the second task is performed, then This package may not be delivered in time.

Therefore, in order to avoid the above situation, before the robot is switched to the second task, the judgment operation of the execution function may be added to determine whether the robot has the first function of the first task that has not been executed.

When S304 is executed, if there is, the robot waits for the robot to execute the task of the unexecuted first task, and then executes S305.

It should be noted that there is a possibility that if the task in the second task is a very urgent task and the robot needs to be executed immediately, then S305 may not be executed at this time, and S306 is directly executed to switch the robot to the second task. Whether or not S305 is executed does not affect the implementation of the embodiment.

It can be seen that before the task is switched, it can be determined whether the robot is switched to the second task immediately by determining whether the robot is performing the corresponding function. And when the robot is performing the function in the first task, waiting for the robot to perform the task switching after the first function of the unexecuted first task is performed, thereby avoiding the possibility that the work is not completed. Bad effects. It is also possible to directly switch the robot to the second task without determining whether the robot is performing the task without directly determining whether the robot is performing the second function in the second task, thereby improving the reaction speed to the important task and satisfying the execution of the important task. demand.

S305: Switch the robot to the second task, and control the robot to perform a second function in the second task according to the second action set.

After the robot switches to the second task, the task server controls the robot to perform the task in the second task according to the second action set. Of course, after switching to the second task, it is not that the robot can only be in the second task. In order to make the robot more flexible to perform tasks under different tasks, the robot can be switched back to the first according to the requirements. A task that enhances the ability to control the robot. Specifically, it may also include:

S306: Determine a time interval in which the robot is located. If in the effective time interval of the first task, Line S307.

S307: Switch the robot to the first task, and control the robot to perform a first function in the first task according to the first action set.

For example, the effective time interval of the first task is from 8:00 am to 10:00 am and from 1:00 pm to 3:00 pm, and the effective time interval of the second task is from 10:00 am to 1:00 pm. The task server will judge the time interval in which the robot is located, and perform the work in the first task from 8:00 am to 10:00 am, and when the time reaches 10:00 am, the robot is switched to the second task, and the work of the second task is performed. When the time reaches 1 pm, the robot is switched to the first task again, and the work of the first task is performed.

Embodiment 3

In the first embodiment, it is mentioned that the action set is determined according to the task. This embodiment is based on the first embodiment and introduces several different determination modes.

The action set is determined by the task server according to the task, wherein the task may be a task preset by the task server, or may be a task configured by the task server when the task needs to be configured for the robot.

A way to determine a set of actions according to a task may be to determine a set of actions by finding a corresponding relationship by the task. When the task is a task preset by the task server, when the task server sets the task, the action set that implements the function is generated according to the function included in the task, and the corresponding relationship between the task and the action set is stored. When the robot needs to perform the task in the task, the task server searches for the corresponding relationship between the pre-stored task and the action set, and determines the action set corresponding to the task. For example, the task server may have a second task set in advance. Then, the corresponding second action set can be searched according to the second task.

Another way to determine is to generate the set of actions when the task is configured for the robot. It can be understood that the set of actions is directly determined by the function of the task. The task is a task configured by the task server when it needs to be configured, that is, the task server does not store the action set corresponding to the task. There may be multiple reasons for not saving the action set. One of the reasons may be that the robot needs to perform the corresponding function for the task in a certain emergency situation, and the task is never generated in the task server, so the natural task server There will be no corresponding action set. Another reason may be that the task is generated in the task server, but the action set corresponding to the task is not saved. When the robot needs to perform the function in the task, the task server needs to set the action set again.

In the case of a task that is configured by the task server when the task needs to be configured, since the task server does not store the action set of the task, it is necessary to configure the action set of the task.

In the embodiment of the present invention, the action set may be performed by multiple action components and used to indicate execution between the action components. The sequence of workflow components.

An action set is used to implement a function. A action set can include multiple action components. An action component can be understood as a link in the process of implementing the function. An action set also includes a workflow for indicating the execution order between the action components, that is, for explicitly executing the action components in what order, and executing the action components in order to successfully implement a function, the sequence of execution of the action components Need to be coordinated by the workflow. It should be noted that some common workflows can be saved in the task server to be called when generating an action collection.

Action components can be stored in a task server, which can be divided into general action components and non-generic action components from the perspective of versatility. If a link may need to be used in the implementation of different functions, then this link can be defined as a general action component. If a link is mainly used in the implementation of certain functions, then this link can be defined as a non-generic action. Component. For example, when the task is to distribute parcels in Hall 9, to achieve the distribution function, it will involve a series of links such as route identification, traffic light recognition, avoiding pedestrians, taking elevators, sheltering from the rain, etc. Among them, route identification, traffic light recognition, avoiding pedestrians, riding The link of the elevator is the link that is frequently used to realize the distribution function. These links are classified into general action components, and the rain-proof link is used for rainy days. The link is classified as a non-general action component.

When the second task is configured for the robot, if the second action set corresponding to the second task is not saved, the second action set needs to be generated. The action component required to implement the second function may be determined from the saved action component according to the second function specified by the second task, and the corresponding order is determined according to the execution order of the action component required to implement the second function. Two functional workflows. The selected action components are combined according to the execution order of the selected workflows to generate a second action set that can implement the second function.

The task server can control the functions of the robot to perform tasks according to the generated action set. Considering that the generated action set contains the action components in a sequential order, the task server can detect the execution of each action component, avoid the out-of-order execution of the action set, or have problems in a certain link. Time can be discovered in time.

To this end, embodiments of the present invention provide a way to control a function of a robot to perform a task according to a set of actions.

Next, taking the second action set as an example, the task server generates a first control instruction according to the first action component in the second action set, and sends the first control instruction to the robot. The first action component is one of a plurality of action components included in the second action set.

After acquiring the processing information fed back by the robot for the first control instruction, generating a second control instruction according to the second action component in the action set, and sending the second control instruction to the robot, Narrative The second action component is an action component that needs to be executed after the first action component is executed in the execution sequence indicated by the workflow of the second action set. That is, after the first action component is executed according to the workflow, the next action component that needs to be executed.

The control command sent to the robot is sequentially generated according to the processing information fed back by the robot and the execution sequence indicated by the workflow of the second action set until the robot completes the function in the second task.

For example, a function includes five action components, which have a sequential order, numbered 1 through 5, respectively, and are numbered to distinguish the order. The task server controls the robot to execute the action component 1. When receiving the processing information of the feedback of the robot (the feedback information may be that the action component 1 is executed), the robot is controlled to execute the action component 2, and when the feedback information of the feedback of the robot is received ( The feedback information may be after the action component 2 is executed), the control robot executes the action component 3, and so on, until the robot implements the function (ie, completes the work in the task).

Through this method, the execution of the robot can be accurately controlled, the reliability of the execution function of the robot is increased, and when the robot performs the function, if the problem occurs in a certain link, the task server can quickly find out, thereby assisting in solving the problem. A situation occurs when the robot is stuck or unable to continue functioning.

Of course, the above detection of the execution of the action component is only an alternative. The execution of each action component in the action set may not be monitored. After the action set of the task is generated, the control instruction set is directly generated according to the action set and sent to the robot, and the robot completes the instruction by executing the instruction in the control instruction set. The functions in the task, which reduces the processing pressure of the task server.

FIG. 4 is a schematic structural diagram of a device for a task switching apparatus according to an embodiment of the present invention, which is applied to a task server, where the task server provides a first task, where the first task includes a type of the first function performed and a first action. a set, the first action set is a set of actions for implementing the first function, the task server is pre-configured with the first task and an effective time interval of the first task for the robot; the device includes a configuration unit 401. The determining unit 402 and the switching unit 403:

The configuration unit 401 is configured to configure, for the robot, a second task and an effective time interval of the second task, where the second task includes a type of the executed second function and a second action set, and the second action set a set of actions for implementing the second function;

The determining unit 402 is configured to determine a time interval in which the robot is located; if in an effective time interval of the second task, trigger the switching unit;

The switching unit 403 is configured to switch the robot to the second task, and control the robot to perform a second function in the second task according to the second action set.

For the description of the above units, refer to the related description of the corresponding embodiment in FIG. 2, and details are not described herein again.

It can be seen that the task server has a first task set in advance, the first task includes a type of the first function executed and a first action set, and the robot has a pre-configured first task and an effective time interval of the first task. If the second task and the effective time interval of the second task are configured for the robot, when the robot is determined to be in the effective time interval of the second task, the robot may be switched to the second task and corresponding to the second task. The second action set controls the robot to perform the second function in the second task. It can be seen that the present invention can configure the robot with multiple tasks, and the time interval in which the robot is located is used as the basis for switching tasks, because the task server has different tasks. The corresponding action set, after switching the task of the robot, can control the robot to realize the function under the task according to the action set corresponding to the switched task, thereby realizing the high-efficiency task switching to the robot, so that the same robot can complete Features under different tasks.

5 is a hardware structure diagram of a task server according to an embodiment of the present invention. The task server 500 provides a first task, where the first task includes a type of a first function performed and a first action set, where the first task An action set is a set of actions for implementing the first function, the task server 500 is pre-configured with the first task and an effective time interval of the first task for the robot; the task server 500 includes a memory 501 and transmits And a processor 503 connected to the memory 501 and the transmitter 502, the memory 501 is configured to store a set of program instructions, and the processor 503 is configured to invoke the program instructions stored by the memory 501 Do the following:

Triggering the transmitter 502 to configure the second task and the effective time interval of the second task for the robot, the second task includes a type of the second function performed and a second action set, where the second action set is An action set for implementing the second function;

Determining a time interval in which the robot is located;

Optionally, the processor 503 may be a central processing unit (CPU), and the memory 501 may be an internal memory of a random access memory (RAM) type, and the transmitter 502 may The physical interface may be an Ethernet interface or an Asynchronous Transfer Mode (ATM) interface. The processor 503, the transmitter 502, and the memory 501 may be integrated into one or more independent circuits or hardware, such as an Application Specific Integrated Circuit (ASIC).

Determining a time interval in which the robot is located;

Optionally, the second task is preset in the task server.

It can be seen that the task server has a first task set in advance, the first task includes a type of the first function executed and a first action set, and the robot has a pre-configured first task and an effective time interval of the first task. If the second task and the effective time interval of the second task are configured for the robot, when the robot is determined to be in the effective time interval of the second task, the robot may be switched to the second task and corresponding to the second task. The second action set controls the robot to perform the second function in the second task. It can be seen that the present invention can configure the robot with multiple tasks, and the time interval in which the robot is located is used as the basis for switching tasks, because the task server has different tasks. The corresponding action set can be switched to the task after switching the task of the robot. The corresponding action set controls the robot to realize the functions under the task, thereby achieving high-efficiency task switching to the robot, so that the same robot can perform functions under different tasks.

Next, the technical solution provided by the present invention will be described from the perspective of a robot. FIG. 6 is a flowchart of a method for a task switching method according to an embodiment of the present invention. The method is applied to a robot, where the robot is pre-configured by a server with a first task and an effective time interval of the first task, where the robot is pre-configured by the server. There is a second task and an effective time interval of the second task, the first task comprising a type of the executed first function and a first action set, the second task comprising a type of the executed second function and a second action set The second set of actions is a set of actions for implementing the second function; the robot implements the first function by executing a first set of actions, the method comprising:

S601: The robot acquires a first switching command from the server, where the first switching command is used to instruct the robot to switch to the second task.

S602: The robot switches from the first task to the second task according to the first switching command.

S603: The robot controls the robot to perform a second function in the second task according to the second action set.

It can be seen that the robot can implement the function specified by the task by executing a set of actions of a task. When the task is switched, the robot only needs to select the action set of the task to be switched to, and can quickly implement the task after switching the task. Switch to the function specified by the task.

The robot acquires a second switching command from the server, the second switching command is used to instruct the robot to switch to the first task.

The robot switches from the second task to the first task according to the second switching command.

FIG. 7 is a structural diagram of a device of a task switching apparatus according to an embodiment of the present invention, which is applied to a robot, which is pre-configured by a server with a first task and an effective time interval of a first task, and the robot is pre-configured by a server. There is a second task and an effective time interval of the second task, the first task comprising a type of the executed first function and a first action set, the second task comprising a type of the executed second function and a second action set , The second set of actions is a set of actions for implementing the second function; the robot implements the first function by executing a first set of actions, the apparatus comprising an obtaining unit 701, a switching unit 702, and an executing unit 703 :

The obtaining unit 701 is configured to acquire a first switching command from the server, where the first switching command is used to instruct the robot to switch to the second task.

The switching unit 702 is configured to switch from the first task to the second task according to the first switching command;

The executing unit 703 is configured to control, according to the second action set, the second function of the second task to be performed by the robot.

FIG. 8 is a hardware structural diagram of a robot according to an embodiment of the present invention. The robot 800 is pre-configured by a server with a first task and an effective time interval of a first task, and the robot 800 is pre-configured with a second task by a server. And an effective time interval of the second task, the first task including a type of the first function performed and a first action set, the second task including a type of the executed second function and a second action set, the The second set of actions is a set of actions for implementing the second function; the robot 800 implements the first function by performing a first set of actions, the robot 800 comprising a memory 801 and a receiver 802, and respectively The memory 801 is connected to the processor 802, and the memory 801 is configured to store a set of program instructions. The processor 803 is configured to invoke the program instructions stored by the memory 801 to perform the following operations:

The receiver 802 is triggered to acquire a first switching command from the server, the first switching command is used to instruct the robot to switch to the second task.

Switching from the first task to the second task according to the first switching command.

Optionally, the processor 803 may be a CPU, and the memory 801 may be a RAM type internal storage. The receiver 802 can include a common physical interface, and the physical interface can be an Ethernet interface or an ATM interface. The processor 803, the receiver 802, and the memory 801 can be integrated into one or more separate circuits or hardware, such as an ASIC.

It can be understood by those skilled in the art that all or part of the steps of implementing the foregoing method embodiments may be performed by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, and when executed, the program includes The foregoing steps of the method embodiment; and the foregoing storage medium may be at least one of the following: a read-only memory (English: read-only memory, abbreviation: ROM), a RAM, a magnetic disk, or an optical disk, etc., may be stored. The medium of the program code.

It is to be noted that the various embodiments in the present specification are described in a progressive manner, and the same similar parts between the various embodiments may be referred to each other, and each embodiment focuses on different embodiments from other embodiments. At the office. In particular, for the device and the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment. The apparatus and system embodiments described above are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.

The above is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or within the technical scope disclosed by the present invention. Alternatives are intended to be covered by the scope of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

A task switching method is characterized in that it is applied to a task server, the task server provides a first task, and the first task includes a type of the first function executed and a first action set, and the first action set is a set of actions for implementing the first function, the task server is pre-configured with the first task and an effective time interval of the first task for the robot; the method includes:

Configuring a second task and an effective time interval of the second task for the robot, the second task including a type of the second function performed and a second action set, the second action set being used to implement the second a collection of functional actions;

Determining a time interval in which the robot is located;

If in the effective time interval of the second task, switching the robot to the second task, and controlling the robot to perform the second function in the second task according to the second action set.
The method according to claim 1, wherein said determining a time interval in which said robot is located comprises:

If the effective time interval of the second task is also in the effective time interval of the first task, the priorities of the first task and the second task are further compared;

If the priority of the second task is higher than the priority of the first task, performing the step of switching the robot to the second task.
The method according to claim 2, further comprising: before performing the step of switching the robot to the second task, further comprising:

Determining whether the robot has a first function of the first task that has not been performed;

If yes, after the robot waits for the task of the unexecuted first task to be executed, the step of switching the robot to the second task is performed.
The method according to claim 2, wherein the setting manner of the priority of the first task comprises setting in advance or setting when configuring the first task for the robot;

The setting manner of the priority of the second task includes setting in advance or setting when the second task is configured for the robot.
The method according to claim 2, wherein said comparing priorities of said first task and said second task comprises:

If the priority of the first task is higher than the priority of the second task, the robot is retained under the first task.
The method according to claim 1 or 2, further comprising: after the switching the robot to the second task, further comprising:

Determining a time interval in which the robot is located;

If in the effective time interval of the first task, switching the robot to the first task, and controlling the robot to perform the first function in the first task according to the first action set.
The method of claim 1 wherein said second task is pre-set in said task server.
The method of claim 1 wherein the second set of actions comprises a plurality of action components and a workflow for indicating an order of execution between the action components.
The method of claim 8 wherein said configuring said robot with a second task comprises:

Determining a plurality of action components required to implement the second function, and a workflow for indicating an order of execution between the action components;

Generating the second set of actions according to the plurality of components and corresponding workflows required to implement the second function;

The second task is configured for the robot according to the second function and the second set of actions.
The method according to claim 8, wherein the controlling the second function of the second task according to the second action set comprises:

Generating a first control instruction according to the first action component in the second action set, and transmitting the first control instruction to the robot;

Obtaining processing information of the robot for feedback of the first control instruction;

Generating a second control instruction according to the second action component in the second action set, and sending the second control instruction to the robot, where the second action component is in a workflow of the second action set An action component to be executed after the execution of the first action component in the execution order of the indication;

And generating, according to the processing information fed back by the robot and the execution sequence indicated by the workflow of the second action set, a control instruction sent to the robot, until the robot completes the second function in the second task.
The method of claim 1 wherein said first task further comprises an area for performing said first function, said second task further comprising an area for performing said second function, said The second set of actions controls the robot to perform tasks in the second task, including:

Controlling, by the second set of actions, the second function of the second task in an area in which the performing the second function is performed.
A task switching apparatus, configured to be applied to a task server, where the task server provides a first task, the first task includes a type of the first function executed and a first action set, and the first action set is a set of actions for implementing the first function, the task server is pre-configured with the first task and an effective time interval of the first task for the robot; the device includes a configuration unit, a determining unit, and a switching unit:

The configuration unit is configured to configure, for the robot, a second task and an effective time interval of the second task, where the second task includes a type of the executed second function and a second action set, where the second action set is a set of actions for implementing the second function;

The determining unit is configured to determine a time interval in which the robot is located; if in an effective time interval of the second task, triggering the switching unit;

The switching unit is configured to switch the robot to the second task, and control the robot to perform a second function in the second task according to the second action set.
The device according to claim 12, wherein the determining unit is further configured to: if the time interval in which the robot is located is in the effective time interval of the second task, and is also valid in the first task a time interval for further comparing priorities of the first task and the second task;

The switching unit is triggered if the priority of the second task is higher than the priority of the first task.
A task server, wherein the task server provides a first task, the first task includes a type of a first function performed and a first action set, and the first action set is used to implement the first a functional set of actions, the task server being pre-configured with the first task and an effective time interval of the first task for the robot; the task server including a memory and a transmitter, and the memory and the transmitter, respectively a connected processor for storing a set of program instructions, the processor for invoking the program instructions stored by the memory to perform the following operations:

Triggering the transmitter to configure a second task and an effective time interval of the second task for the robot, the second task including a type of the executed second function and a second action set, the second action set being used for An action set that implements the second function;

Determining a time interval in which the robot is located;

If in the effective time interval of the second task, triggering the transmitter to switch the robot to the second task, and controlling the robot to perform the second task according to the second action set Two functions.
The task server according to claim 14, wherein said processor is further configured to call the location The program instructions stored in the memory perform the following operations:

If the effective time interval of the second task is also in the effective time interval of the first task, the priorities of the first task and the second task are further compared;

If the priority of the second task is higher than the priority of the first task, triggering the transmitter to switch the robot to the second task.
The task server according to claim 15, wherein the processor is further configured to invoke the program instructions stored in the memory to perform the following operations:

Determining whether the robot has a first function of the first task that has not been performed;

If yes, after the robot waits for the task of the unexecuted first task to be executed, triggering the transmitter to switch the robot to the second task.
The task server according to claim 15, wherein the setting manner of the priority of the first task comprises setting in advance or setting when configuring the first task for the robot;

The setting manner of the priority of the second task includes setting in advance or setting when the second task is configured for the robot.
The task server according to claim 15, wherein the processor is further configured to invoke the program instructions stored in the memory to perform the following operations:

If the priority of the first task is higher than the priority of the second task, the robot is retained under the first task.
The task server according to claim 14 or 15, wherein the processor is further configured to invoke the program instructions stored in the memory to perform the following operations:

Determining a time interval in which the robot is located;

If in the effective time interval of the first task, triggering the transmitter to switch the robot to the first task, and controlling the robot to perform the first task in the first task according to the first action set A feature.
The task server according to claim 14, wherein said second task is preset in said task server.
The task server of claim 14, wherein the second set of actions comprises a plurality of action components and a workflow for indicating an order of execution between the action components.
The task server according to claim 21, wherein the processor is further configured to invoke the program instructions stored in the memory to perform the following operations:

Determining a plurality of action components required to implement the second function, and for indicating execution between the action components Sequential workflow

Generating the second set of actions according to the plurality of components and corresponding workflows required to implement the second function;

Triggering the transmitter to configure the second task for the robot according to the second function and the second set of actions.
The task server according to claim 21, wherein the task server further comprises a receiver, the receiver is connected to the processor, and the processor is further configured to invoke the program instruction stored in the memory to execute Do the following:

Generating a first control instruction according to the first action component in the second action set, and triggering the transmitter to send the first control instruction to the robot;

Triggering the receiver to acquire processing information that the robot feeds back to the first control instruction;

Generating a second control instruction according to the second action component in the second action set, and triggering the transmitter to send the second control instruction to the robot, where the second action component is in the second action An action component to be executed after executing the first action component in an execution order indicated by the set workflow;

And generating, according to the processing information fed back by the robot and the execution sequence indicated by the workflow of the second action set, a control instruction sent to the robot, until the robot completes the second function in the second task.
The task server according to claim 14, wherein said first task further comprises an area for performing said first function, said second task further comprising an area for performing said second function, said processor The program instructions that are also used to call the memory store perform the following operations:

Controlling, by the second set of actions, the second function of the second task in an area in which the performing the second function is performed.
A task switching method is characterized in that it is applied to a robot, which is pre-configured by a server with a first task and an effective time interval of the first task, the robot being pre-configured by the server with the second task and the second task An effective time interval, the first task comprising a type of the first function executed and a first action set, the second task comprising a type of the executed second function and a second action set, the second action set being a set of actions for implementing the second function; the robot implementing the first function by executing a first set of actions, the method comprising:

The robot acquires a first switching command from the server, where the first switching command is used to instruct the robot to switch to the second task;

The robot switches from the first task to the second task according to the first switching command;

The robot controls the robot to perform a second function in the second task according to the second action set.
The method according to claim 25, further comprising: after the robot switches from the first task to the second task according to the switching command, further comprising:

The robot acquires a second switching command from the server, where the second switching command is used to instruct the robot to switch to the first task;

The robot switches from the second task to the first task according to the second switching command;

The robot controls the robot to perform a first function in the first task according to the first action set.
A task switching device is characterized in that it is applied to a robot, which is pre-configured by a server with a first task and an effective time interval of the first task, the robot being pre-configured by the server with the second task and the second task An effective time interval, the first task comprising a type of the first function executed and a first action set, the second task comprising a type of the executed second function and a second action set, the second action set being a set of actions for implementing the second function; the robot implementing the first function by performing a first action set, the device comprising an acquisition unit, a switching unit, and an execution unit:

The acquiring unit is configured to acquire a first switching command from the server, where the first switching command is used to instruct the robot to switch to the second task;

The switching unit is configured to switch from the first task to the second task according to the first switching command;

The executing unit is configured to control the robot to perform a second function in the second task according to the second action set.
The device according to claim 27, wherein the obtaining unit is further configured to acquire a second switching command from the server, where the second switching command is used to instruct the robot to switch to the first task;

The switching unit is further configured to switch from the second task to the first task according to the second switching command;

The execution unit is further configured to control the robot to perform a first function in the first task according to the first action set.
A robot, wherein the robot is pre-configured by a server with a first task and an effective time interval of the first task, the robot being pre-configured by the server with a second task and an effective time interval of the second task, The first task includes a type of the first function performed and a first set of actions, the second task including a type of the executed second function and a second set of actions, the second set of actions being for implementing the second functional a set of actions; the robot implements the first function by performing a first set of actions, the robot comprising a memory and a receiver, and a processor coupled to the memory and the receiver, respectively, the memory for storing A set of program instructions, the processor is configured to invoke the program instructions stored in the memory to perform the following operations:

Triggering the receiver to acquire a first switching command from the server, where the first switching command is used to instruct the robot to switch to the second task;

Switching from the first task to the second task according to the first switching command;

Controlling, by the second set of actions, the second function of the second task is performed by the robot.
The robot according to claim 29, wherein the processor is further configured to invoke the program instructions stored in the memory to perform the following operations:

Triggering the receiver to acquire a second switching command from the server, the second switching command is used to instruct the robot to switch to the first task;

Switching from the second task to the first task according to the second switching command;

Controlling the robot to perform a first function in the first task according to the first action set.