Method, device and robot for state switching

Abstract

The invention discloses a method, a device and a robot for state switching. The state machine includes a plurality of state nodes in a tree shape, the plurality of state nodes include a first state node and a second state node, and the method for state switching includes: the first state node to the second state node The first state node is located on the current state chain, and the second state node is the closest common ancestor state node of the first state node and the target state node, and the handover request signaling includes the following Any one: common handover signaling, push-to-stack handover signaling, and stack-out handover signaling; the second state node switches from the current state chain to the target state chain where the target state node is located according to the handover request signaling. Thereby, state switching can be completed between nodes through switching request signaling, the hierarchical expansion of states can be supported, and the nested recursive processing capability can be satisfied, and further, it can be applied to complex application scenarios.

Description

technical field [0001] The present invention relates to the field of robots, and more particularly to a method, a device and a 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. During the entire operating life cycle of the robot from the start of power-on to the end of shutdown, there are various possible operating states, and each state will be converted to each other at any time according to different conditions or events. In order to deal with various complex operation scenarios of the robot during operation, the software must have a top-level design, that is, the robot state machine, to monitor the operation of the robot and prevent it from chaotic. [0003] A traditional state mach...

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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

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