WO2021129346A1

WO2021129346A1 - Method and device for robot to autonomously manage execution capability, and storage medium

Info

Publication number: WO2021129346A1
Application number: PCT/CN2020/133742
Authority: WO
Inventors: 杨志钦; 张森; 王翔宇
Original assignee: 炬星科技（深圳）有限公司
Priority date: 2019-12-26
Filing date: 2020-12-04
Publication date: 2021-07-01
Also published as: CN113050614A; CN113050614B

Abstract

A method and device for a robot to autonomously manage an execution capability, and a storage medium. The method comprises: a robot acquiring a working task to be executed, and acquiring an initial state and a completion state of the working task, and state information of the robot itself (S10); according to the initial state and the completion state of the working task and in combination with the state information of the robot itself, calculating an execution plan corresponding to the working task (S20); and executing the working task according to the execution plan obtained by means of calculation (S30). The aim of enabling, by means of an operational capability of a robot, the robot to autonomously manage an execution capability thereof is achieved, the operating efficiency of the robot is improved, the cost is saved, and moreover, the robot is smarter and more flexible.

Description

Method, equipment and storage medium for autonomously managing execution capability of robot

Technical field

The present invention relates to the technical field of robots, in particular to a method, equipment and storage medium for autonomous management and execution capabilities of robots.

Background technique

In recent years, e-commerce orders have increased rapidly, but the labor force in the logistics field corresponding to this has been declining year by year, labor costs are increasing, and the imbalance between supply and demand has become more and more serious. With the continuous development of robot technology, logistics companies have gradually begun to consider using robots to replace labor, so as to achieve the purpose of saving costs.

At present, the most widely used robot is AGV (Automated Guided Guided Vehicle) robots, but AGV robots have insufficient flexibility and are very expensive. At the same time, robots based on the AMR (Autonomous Mobile Robot) control series have gradually begun to develop, but because AMR robots are still in the early stages of development, and the autonomous execution capabilities of AMR robots cannot meet basic needs. In addition, existing robots also need to receive control instructions issued by the server, so as to perform corresponding tasks according to the control instructions, and the robots cannot independently manage their own execution capabilities.

technical problem

In view of the above problems, the present invention provides a method, equipment and storage medium for robots to autonomously manage their execution capabilities, aiming to use the robot's computing capabilities to enable them to autonomously manage their own execution capabilities and improve work efficiency.

Technical solutions

In order to achieve the above objective, the present invention provides a method for autonomously managing execution capabilities of a robot, the method including:

The robot obtains the work task to be executed, and obtains the initial state and the completion state of the work task and the state information of the robot itself.

According to the initial state and the completion state of the work task and the state information of the robot itself, the execution plan corresponding to the work task is calculated.

Execute the job task according to the calculated execution plan.

In order to achieve the above objective, the present invention also provides a device for autonomously managing execution capabilities of a robot, and the autonomous management device includes:

The task acquisition module is used to acquire the job task to be executed, and acquire the initial state and the completion state of the job task and the state information of the robot itself.

The plan calculation module is used to calculate the execution plan corresponding to the job task according to the initial state and the completion state of the job task, combined with the state information of the robot itself.

The task execution module is used to execute the job task according to the calculated execution plan.

In order to achieve the above object, the present invention also provides an electronic device, the electronic device includes a memory and a processor, the memory stores an autonomous management program that can run on the processor, and the autonomous management program is When the processor is running, the method for autonomously managing the execution capability of the robot is executed.

In order to achieve the above-mentioned object, the present invention also provides a computer storage medium with an autonomous management program stored on the storage medium, and the autonomous management program can be executed by one or more processors to realize the autonomous management of the robot. Steps of the method of execution capability.

The method, equipment and storage medium for autonomously managing execution capabilities of robots of the present invention can achieve the following beneficial effects:

The robot obtains the job task to be executed, and obtains the initial state and completion state of the job task and the state information of the robot itself; according to the initial state and completion state of the job task, combined with the state information of the robot itself, calculates the job The execution plan corresponding to the task; execute the operation task according to the calculated execution plan; achieve the purpose of using the robot's computing power to realize its own execution ability, improve the robot's work efficiency, and save the cost At the same time, it also makes the robot smarter and more flexible.

Beneficial effect

Other features and advantages of the present invention will be described in the following description, and partly become obvious from the description, or understood by implementing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the content pointed out in the written description, claims, and drawings.

The technical solutions of the present invention will be further described below through the accompanying drawings and embodiments.

Description of the drawings

The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention. In the attached picture:

Fig. 1 is a schematic flowchart of an embodiment of a method for autonomously managing execution capabilities of a robot according to the present invention.

Fig. 2 is a schematic diagram of functional modules of an embodiment of the device for autonomously managing execution capabilities of a robot according to the present invention.

FIG. 3 is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention.

Embodiments of the present invention

The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not used to limit the present invention.

The present invention provides a method, equipment and storage medium for autonomously managing the execution capability of a robot, so as to utilize the computing capability of the robot to enable the robot to realize the purpose of autonomously managing its own execution capability and to improve work efficiency and flexibility of the robot. lower the cost.

As shown in Fig. 1, Fig. 1 is a schematic flow chart of an embodiment of the method for autonomously managing execution capability of a robot of the present invention; the method for autonomously managing execution capability of a robot of the present invention can be implemented as steps S10-S30 as described below:

Step S10: The robot obtains the work task to be executed, and obtains the initial state and the completion state of the work task and the state information of the robot itself.

In the embodiment of the present invention, the source of the work task to be executed obtained by the robot includes: the robot receives the work task to be executed sent by the outside and obtained through communication with the outside; and/or: the robot generates the work task to be executed by itself according to the trigger instruction Job task.

And the work task to be executed obtained by the robot may be a single task or multiple tasks, as long as it is a work task that the robot can receive. The types of work tasks include, but are not limited to: specific operation tasks, abstract computing tasks, and task dispatch; for example, the type of work obtained by the robot can be: the robot is now at point A, and you can take a bottle of mineral water to point B for delivery Reach point C; it can also be more abstract, for example, you can calculate 1+1=2; for example, you can distribute multiple job tasks received to other robots, etc.; for example, perform a certain plan corresponding to a certain job task Then, recalculate the follow-up plan of the job task and so on.

When the robot obtains the work task to be executed, it obtains the initial state and the completion state of the work task, and also obtains the state information of the robot itself. At this time, when the robot obtains the task to be executed, the state of the robot itself may be in the standby state when it is just turned on, or it may be the state in which it is working. Among them, the status of the job task acquired by the robot includes but is not limited to: the location of the job, the content of the job, the duration of the job, etc.; the status of the robot itself includes but is not limited to: the power of the robot, the weight, the current position of the robot, Status information that may affect the job task, such as the ability information of the robot. Among them, the robot's capability information refers to the information about what the robot can do. For example, if a transport robot can load goods, it has information such as the maximum cargo capacity and the maximum mileage that can be transported. In addition, if the current environment may affect the robot to perform the corresponding task, the robot will also obtain the current environment information, such as the light intensity (for example, the robot may not be able to walk clearly in the route under low light conditions), and the robot may Environmental information such as the slope of the road that needs to be driven (for example, the road slope is too high and the robot may not be able to pass).

In the embodiment of the present invention, the way for the robot to obtain status information corresponding to itself or the task can be obtained by using sensors configured by the robot itself, or by other devices that can communicate with the robot to notify the robot, etc. The implementation of the present invention The example does not exhaustively list and limit the ways in which the robot obtains the job task and the state information of the robot itself.

Step S20: Calculate the execution plan corresponding to the work task according to the initial state and the completion state of the work task and the state information of the robot itself.

When calculating the execution plan corresponding to the job task to be executed, the current state of the robot itself and the job task needs to be considered together; among them, the current state of the robot itself and the job task can be understood as: when the robot receives the job task The state of the robot and the state of the job task; correspondingly, the completion state of the robot itself and the job task can be understood as: the state of the robot and the state of the job task when the robot completes the job task. Among them, in the embodiment of the present invention, the completion of the work task includes not only the successful completion of the work task, but also the completion of the task due to the robot's failure to complete the task.

When the robot calculates the execution plan corresponding to the operation task according to the initial state and the completion state of the operation task, combined with the state information of the robot itself, it can be implemented as follows:

The robot obtains the task type corresponding to the task to be executed, and obtains the initial state parameters and the completion state parameters corresponding to the initial state and the completion state according to the initial state and the completion state of the task task; the robot corresponding to the state information of the robot itself State parameters, calculate the execution parameters required by the robot to complete the above-mentioned job tasks to be executed, obtain the execution plan information corresponding to the job task according to the calculated execution parameters, and formulate the execution plan information corresponding to the job task according to the execution plan information Implementation plan.

Step S30: Execute the job task according to the calculated execution plan.

The robot executes the corresponding tasks in accordance with the formulated execution plan.

At the same time, after starting to perform the work task and during the execution of the work task according to the above-mentioned execution plan formulated by the robot, the robot monitors the work task and the status information of the robot itself in real time, and recognizes the work task and the status information of the robot itself. / Or whether the status information of the robot itself has changed, and perform corresponding operations according to the recognition results.

If it is recognized that the work task and/or the status information of the robot itself has not changed, then continue to execute the work task according to the execution plan.

If it is recognized that the operation task and/or the status information of the robot itself has changed, it is determined whether the execution plan needs to be updated and the corresponding operation task is executed according to the updated execution plan.

In one embodiment, the robot judges whether the execution plan needs to be updated and executes the corresponding job task according to the updated execution plan, which can be implemented in the following manner:

According to the change information, a new execution plan is obtained by recalculation, and the obtained new execution plan is compared with the original execution plan.

If the difference between the execution efficiency corresponding to the new execution plan and the execution efficiency corresponding to the original execution plan reaches the preset range, it is determined that the execution plan needs to be updated and the corresponding operation task is executed according to the updated execution plan.

For example, the execution efficiency of the new execution plan is far greater than the execution efficiency of the original execution plan, and the difference between the execution efficiency of the two reaches more than 40%, and the robot judges that the execution plan needs to be updated, and executes according to the updated new execution plan. Corresponding job tasks to improve execution efficiency.

In one embodiment, the robot judges whether the execution plan needs to be updated and executes the corresponding job task according to the updated execution plan, which can also be implemented in the following manner:

The robot obtains the changed change information according to the identified work task that has changed and/or the state information of the robot itself.

According to the acquired change information, it is determined whether the change information affects the execution of the job task according to the original execution plan.

If the change information affects the execution of the job task according to the original execution plan, the execution plan is recalculated and updated according to the change information, and the corresponding job task is executed according to the updated execution plan.

If the change information does not affect the execution of the job task according to the original execution plan, there is no need to recalculate and update the execution plan.

Further, the robot judges whether the change information affects the execution of the work task according to the original execution plan, which can be implemented in the following manner:

The robot judges whether the change information hinders the execution of the original execution plan, and/or whether it hinders the execution of the subsequent plan of the original execution plan.

If there is an obstacle, it is determined that the change information affects the execution of the operation task according to the original execution plan.

If there is no obstruction, it is determined that the change information will not affect the execution of the work task according to the original execution plan.

In an embodiment of the present invention, after the robot executes the corresponding work task according to the calculated execution plan, the robot judges whether the work task has been executed according to the information such as the execution time and execution status of the work task.

If the execution has been completed, return to step S10 described in the embodiment of FIG. 1, that is, the robot obtains the work task to be executed, and obtains the initial state and completion state of the work task and the state information of the robot itself.

If the execution is not completed, continue to execute the currently executed job task.

Wherein, the job task described in the embodiment of the present invention has been executed and completed includes:

The job task has been successfully completed, or: a job task that cannot be completed and terminated.

In the method for autonomously managing the execution capability of the robot of the present invention, the robot obtains the work task to be executed, and obtains the initial state and the completion state of the work task and the state information of the robot itself; combining the initial state and the completion state of the work task The robot’s own state information calculates the execution plan corresponding to the job task; executes the job task according to the calculated execution plan; achieves the purpose of using the robot's computing power to realize its own execution ability, The work efficiency of the robot is improved, the cost is saved, and at the same time, the robot is more intelligent and flexible.

Corresponding to the method for autonomously managing execution capabilities of robots described in the embodiment in FIG. 1, an embodiment of the present invention also provides a device for autonomously managing execution capabilities of robots; as shown in FIG. 2, FIG. 2 shows the autonomous management execution capabilities of robots of the present invention. A schematic diagram of functional modules of an embodiment of the device; Figure 2 only functionally describes a device for autonomously managing execution capabilities of a robot of the present invention.

In the embodiment shown in Fig. 2, the robot autonomously manages the execution capability of the device, that is, the autonomous management device functionally includes:

The task acquisition module 100 is used to acquire the job task to be executed, and acquire the initial state and the completion state of the job task and the state information of the robot itself.

The plan calculation module 200 is configured to calculate the execution plan corresponding to the job task according to the initial state and the completion state of the job task and the state information of the robot itself.

The task execution module 300 is configured to execute the job task according to the calculated execution plan.

In an embodiment, the task execution module 300 is used to:

According to the acquired execution plan, after starting to execute the work task or during the execution of the work task, it is recognized whether the state information of the work task and/or the robot itself has changed.

In an embodiment, the task execution module 300 is used to:

Obtain the changed change information according to the identified changed work task and/or the state information of the robot itself.

In an embodiment, the task execution module 300 is used to:

It is determined whether the change information hinders the execution of the original execution plan, and/or whether it hinders the execution of the subsequent plan of the original execution plan.

In an embodiment, the task execution module 300 is used to:

In an embodiment, the task acquisition module 100 is used to:

The robot receives the job tasks to be executed sent from the outside world through communication with the outside world.

and / or:

The robot generates tasks to be executed according to the trigger instruction.

In an embodiment, the task execution module 300 is used to:

It is judged whether the operation task has been executed and completed.

If the execution has been completed, return to the execution step: the robot obtains the work task to be executed, and obtains the initial state and the completed state of the work task and the state information of the robot itself.

Wherein, the operation task has been executed and completed includes:

The device for autonomously managing the execution capability of the robot of the present invention acquires the work task to be executed, and obtains the initial state and the completion state of the work task and the state information of the robot itself; according to the initial state and the completion state of the work task, the robot is combined Own state information, calculate the execution plan corresponding to the job task; execute the job task according to the calculated execution plan; achieve the purpose of using the robot's computing power to achieve the purpose of autonomously managing its own execution ability, and improve This improves the working efficiency of the robot and saves costs. At the same time, it also makes the robot more intelligent and flexible.

The present invention also provides an electronic device, which can implement autonomous management of the execution capability of the robot according to the method for autonomously managing the execution capability of the robot described in FIG. 1. As shown in FIG. 3, FIG. 3 is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention.

In this embodiment, the electronic device 1 may be a PC (Personal Computer, personal computer), or a terminal device such as a smart phone, a tablet computer, or a portable computer. The electronic device 1 at least includes a memory 11, a processor 12, a communication bus 13, and a network interface 14.

The memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, and the like. The memory 11 may be an internal storage unit of the electronic device 1 in some embodiments, such as a hard disk of the electronic device 1. In other embodiments, the memory 11 may also be an external storage device of the electronic device 1, such as a plug-in hard disk equipped on the electronic device 1, a smart memory card (Smart Media Card, SMC), Secure Digital (Secure Digital, SD) card, flash card (Flash Card), etc. Further, the memory 11 may also include both an internal storage unit of the electronic device 1 and an external storage device. The memory 11 can be used not only to store application software and various data installed in the electronic device 1, such as the code of the autonomous management program 01, etc., but also to temporarily store data that has been output or will be output.

The processor 12 may be a central processing unit (Central Processing Unit) in some embodiments. Processing Unit (CPU), controller, microcontroller, microprocessor or other data processing chip, used to run the program code or processing data stored in the memory 11, for example, execute the autonomous management program 01 and so on.

The communication bus 13 is used to realize the connection and communication between these components.

The network interface 14 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface), and is usually used to establish a communication connection between the electronic device 1 and other electronic devices.

Optionally, the electronic device 1 may further include a user interface. The user interface may include a display (Display) and an input unit such as a keyboard (Keyboard). The optional user interface may also include a standard wired interface and a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode, organic light-emitting diode) touch device, etc. Among them, the display can also be appropriately called a display screen or a display unit, which is used to display the information processed in the electronic device 1 and to display a visualized user interface.

FIG. 3 only shows the electronic device 1 with components 11-14 and the autonomous management program 01. Those skilled in the art can understand that the structure shown in FIG. 2 does not constitute a limitation on the electronic device 1, and may include comparison diagrams. Show fewer or more components, or combine certain components, or different component arrangements.

Based on the description of the embodiments in Figures 1 and 2, in the embodiment of the electronic device 1 shown in Figure 3, the autonomous management program 01 is stored in the memory 11; the autonomous management program 01 stored in the memory 11 can be used in the processing When the autonomous management program 01 is run by the processor 12, the following steps are implemented:

Execute the job task according to the calculated execution plan.

In an embodiment, the autonomous management program 01 may also be run by the processor 12 to execute the job task according to the acquired execution plan, including:

In an embodiment, the autonomous management program 01 may also be run by the processor 12 to determine whether the execution plan needs to be updated and execute the corresponding job tasks according to the updated execution plan, including:

In an embodiment, the autonomous management program 01 may also be run by the processor 12 to determine whether the change information affects the execution of the job task according to the original execution plan, including:

If there is an obstacle, it is determined that the change information affects the execution of the operation task according to the original execution plan;

If the difference between the execution efficiency corresponding to the new execution plan and the execution efficiency corresponding to the original execution plan reaches a preset range, it is determined that the execution plan needs to be updated and the corresponding operation task is executed according to the updated execution plan.

In an embodiment, the autonomous management program 01 may also be run by the processor 12 to obtain the task to be executed by the robot, including:

and / or:

The robot generates tasks to be executed according to the trigger instruction.

In an embodiment, the autonomous management program 01 may also be run by the processor 12 to execute the job task according to the calculated execution plan, and then further includes:

It is judged whether the operation task has been executed and completed.

Wherein, the operation task has been executed and completed includes:

The electronic device of the present invention obtains the work task to be executed, and obtains the initial state and completion state of the work task and the state information of the robot itself; according to the initial state and completion state of the work task, combined with the state information of the robot itself, Calculate the execution plan corresponding to the job task; execute the job task according to the calculated execution plan; achieve the purpose of using the computing power of the robot to realize its own execution ability and improve the working efficiency of the robot , Which saves costs, and at the same time makes the robot smarter and more flexible.

In addition, the embodiment of the present invention also provides a computer storage medium with an autonomous management program stored on the computer storage medium, and the autonomous management program may be executed by one or more processors to implement the following operations:

Execute the job task according to the calculated execution plan.

The specific implementation of the computer-readable storage medium of the present invention is basically the same as the implementation principles of the corresponding embodiments of the above-mentioned method, apparatus and electronic device for autonomously managing execution capabilities of a robot, and will not be repeated here.

Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. In this way, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Industrial applicability

The electronic device of the present invention acquires the job task to be executed, and acquires the initial state and completion state of the job task and the state information of the robot itself; according to the initial state and completion state of the job task, combined with the state information of the robot itself Calculate the execution plan corresponding to the operation task; execute the operation task according to the calculated execution plan; achieve the purpose of using the computing power of the robot to realize its own execution ability and improve the working efficiency of the robot , Which saves costs, and at the same time makes the robot smarter and more flexible.

Claims

A method for autonomously managing execution capabilities of a robot, the method comprising:

The robot obtains the work task to be executed, and obtains the initial state and the completed state of the work task and the state information of the robot itself;

Calculate the execution plan corresponding to the operation task according to the initial state and the completion state of the operation task, combined with the state information of the robot itself;

Execute the job task according to the calculated execution plan.
The method for autonomously managing execution capabilities of a robot according to claim 1, wherein said executing said work task according to said acquired execution plan comprises:

According to the acquired execution plan, after starting to execute the operation task or during the execution of the operation task, identify whether the operation task and/or the status information of the robot itself has changed;

If it is recognized that the operation task and/or the status information of the robot itself has not changed, continue to execute the operation task according to the execution plan;

If it is recognized that the operation task and/or the status information of the robot itself has changed, it is determined whether the execution plan needs to be updated and the corresponding operation task is executed according to the updated execution plan.
3. The method for autonomously managing execution capabilities of a robot according to claim 2, wherein said determining whether an execution plan needs to be updated and executing corresponding tasks according to the updated execution plan comprises:

Acquire the changed change information according to the identified changed job task and/or the state information of the robot itself;

According to the acquired change information, determine whether the change information affects the execution of the job task according to the original execution plan;

If the change information affects the execution of the job task according to the original execution plan, recalculate and update the execution plan according to the change information, and execute the corresponding job task according to the updated execution plan;

If the change information does not affect the execution of the job task according to the original execution plan, there is no need to recalculate and update the execution plan.
The method for autonomously managing execution capabilities of a robot according to claim 3, wherein the determining whether the change information affects the execution of the work task according to the original execution plan comprises:

Determine whether the change information hinders the execution of the original execution plan, and/or whether it hinders the execution of the subsequent plan of the original execution plan;

If there is an obstacle, it is determined that the change information affects the execution of the operation task according to the original execution plan;

If there is no obstruction, it is determined that the change information will not affect the execution of the work task according to the original execution plan.
The method for autonomously managing execution capabilities of a robot according to claim 2, wherein said determining whether an execution plan needs to be updated and executing the corresponding work task according to the updated execution plan comprises:

According to the change information, recalculate to obtain a new execution plan, and compare the obtained new execution plan with the original execution plan;

If the difference between the execution efficiency corresponding to the new execution plan and the execution efficiency corresponding to the original execution plan reaches a preset range, it is determined that the execution plan needs to be updated and the corresponding operation task is executed according to the updated execution plan.
The method for autonomously managing execution capabilities of a robot according to any one of claims 1 to 5, wherein the obtaining of the task to be executed by the robot includes:

The robot receives the job task to be executed from the outside world, which is obtained through communication with the outside world;

and / or:

The robot generates tasks to be executed according to the trigger instruction.
The method for autonomously managing execution capabilities of a robot according to any one of claims 1 to 5, wherein said executing said work task according to said execution plan obtained by calculation, and then further comprising:

Determine whether the operation task has been executed and completed;

If the execution has been completed, return to the execution step: the robot obtains the task to be executed, and obtains the initial state and the completed state of the task, and the state information of the robot itself;

If the execution is not completed, continue to execute the currently executed job task;

Wherein, the operation task has been executed and completed includes:

The job task has been successfully completed, or: a job task that cannot be completed and terminated.
A device for autonomously managing execution capabilities of a robot, wherein the autonomous management device includes:

The task acquisition module is used to acquire the job task to be executed, and acquire the initial state and the completion state of the job task and the state information of the robot itself;

The plan calculation module is used to calculate the execution plan corresponding to the job task according to the initial state and the completion state of the job task, combined with the state information of the robot itself;

The task execution module is used to execute the job task according to the calculated execution plan.
An electronic device comprising a memory and a processor. The memory stores an autonomous management program that can run on the processor. When the autonomous management program is run by the processor, it executes The method for autonomously managing execution capabilities of robots described in any one of 1 to 7 is required.
A computer storage medium having an autonomous management program stored on the storage medium, and the autonomous management program can be executed by one or more processors to realize the autonomous management of a robot according to any one of claims 1 to 7 Steps of the method of execution capability.