Method and device for state switching, and robot

Abstract

The invention discloses a method and a device for state switching, and a robot. A state machine comprises a plurality of tree-shaped state nodes, and the plurality of state nodes comprise a first state node and a second state node. The method for state switching comprises the following steps: switching a state; the first state node sends a switching request signaling to the second state node, wherein the first state node is located on a current state chain, the second state node is a recently common ancestor state node of the first state node and the target state node, and the switching request signaling comprises any one of a common switching signaling, a stack pushing switching signaling and a stack exiting switching signaling; and the second state node switches from the current state chain to a target state chain where the target state node is located according to the switching request signaling. Therefore, state switching between the nodes can be completed through the switching request signaling, hierarchical expansion of the state can be supported, the nested recursive processing capacity is met, and the method and the device can be applied to complex application scenes.

Description

Technical field [0001] The present invention relates to the field of robotics, and more specifically to a method, device and robot for state switching. Background technique [0002] The robot state machine is a set of logic processing programs running on the main control chip of the robot, which is used to monitor various operating states of the robot, and combine different target tasks to perform various condition detection, motion control, state switching, etc. In the entire operating life cycle of the robot from power-on to shutdown, there are various possible operating states, and each state will switch to each other according to different conditions or events at any time. In order to cope with various complex operating scenarios during the operation of the robot, the software must have a top-level design, namely the robot state machine, to monitor the operation of the robot so that it will not be confused. [0003] A traditional state machine model is composed of a state sche...

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Problems solved by technology

[0004] However, this kind of traditional state machine cannot be applied to complex application scenarios because the state level is relatively single, and it is not easy to implement state nesting and recursion, and for other versions of the state machine, there are also problems such as more complicated design and inconvenient maintenance. kind of defect