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Robot time sequence task planning method and device and electronic equipment

A robot and timing technology, applied in the direction of instruments, design optimization/simulation, resources, etc., can solve the problem that it is difficult to efficiently solve the problem that the robot has individual timing tasks and global collaborative timing tasks at the same time, so as to reduce waiting time, protect private information, overcome more complex effects

Active Publication Date: 2021-09-17
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the embodiments of the present invention is to provide a robot timing task planning method, device, and electronic equipment to solve the problem in the related art that it is difficult to efficiently solve the problem that the robot has individual timing tasks and global collaborative timing tasks at the same time, and consider in task planning. Technical issues such as protecting the privacy of individual robot timing tasks during the process

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  • Robot time sequence task planning method and device and electronic equipment
  • Robot time sequence task planning method and device and electronic equipment
  • Robot time sequence task planning method and device and electronic equipment

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Embodiment 1

[0018] figure 1 It is a flow chart of a robot time-sequence task planning method provided in an embodiment of the present invention. refer to figure 1 , the robot timing task planning method may include the following steps:

[0019] Step S01: Acquiring environmental information of the working area of ​​the robot, and performing discretized modeling on the working area to obtain an environmental graph model.

[0020] Specifically, the environment information of the work area includes the initial position of the robot in the work area, the position of the task to be completed in the work area, and the like. This application does not limit the specific way of obtaining the environment information. It should be noted that the terminal needs to establish a communication connection with the robot before starting planning.

[0021] Specifically, the environment graph model is defined as in is the set of nodes corresponding to the task area in the working area; ε is the A co...

Embodiment 2

[0063] Figure 5 It is a schematic diagram of the robot timing task planning device provided in Embodiment 1 of the present invention. The robot timing task planning device provided in this embodiment and the above-mentioned robot timing task planning method belong to the same inventive concept. For details, see Figure 5 , the robot timing task planning device 200 includes: a first acquisition module 201, configured to acquire environmental information of the robot working area; a modeling module 202, configured to perform discretized modeling on the working area, and obtain an environmental graph model; The first sending module 203 is configured to send the environment map model to the robot, so that the robot can construct a weighted switching system according to the environment map model, the movement of the robot in the work area and the task execution ability; the second acquisition Module 204 is used to obtain the individual time-series tasks and global collaborative t...

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Abstract

The invention belongs to the field of robot task planning, and provides a robot time sequence task planning method which comprises the following steps: acquiring environment information of a working area and performing discretization modeling on the working area; obtaining an individual time sequence task requirement and a cooperative time sequence task requirement of the robot; searching a collaborative task sequence according to collaborative time sequence task requirements; constructing a collaborative subtask allocation model according to the collaborative task sequence, and solving a collaborative subtask allocation result; and sending the collaborative sub-task allocation result to the robot, so that the robot individually calculates a task execution plan. According to the method, the problem of multi-robot planning under the constraint of individual and global complex time sequence tasks can be efficiently solved, the method has good expansibility, and the limitation of unstable regional communication can be overcome; in addition, the privacy information of the individual robot can be effectively protected while the calculation load is dispersed.

Description

technical field [0001] The present application relates to the technical field of robot task planning, and in particular to a method and device for time-sequential task planning of a robot, and electronic equipment. Background technique [0002] Mission planning problems exist widely in social life, such as data collection, continuous observation, and smart logistics. In recent years, more and more researches have begun to focus on the task planning problem of robots under complex timing constraints to solve more complex task requirements in real production. The task planning method based on model checking theory can use formal languages ​​such as Linear Temporal Logic (LTL) language to describe more complex task timing constraints, such as task sequence constraints, safety obstacle avoidance constraints, response constraints, etc. Therefore, it has received extensive attention and research. [0003] Existing methods are difficult to effectively deal with the following tech...

Claims

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Application Information

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IPC IPC(8): G06Q10/06G06F30/20G06F111/04
CPCG06Q10/0631G06F30/20G06F2111/04Y02P90/02
Inventor 郑荣濠白若飞刘妹琴张森林
Owner ZHEJIANG UNIV
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