CN-116330294-B - Robot operation task coding method, device, equipment and storage medium

CN116330294BCN 116330294 BCN116330294 BCN 116330294BCN-116330294-B

Abstract

The present invention relates to the field of coding technologies, and in particular, to a method, an apparatus, a device, and a storage medium for coding a robot operation task. The method comprises the steps of firstly decomposing an operation task of a robot to obtain each sub-action, then coding attribute information of each sub-action to obtain attribute codes of each sub-action, and finally coding the operation task according to the attribute codes of each sub-action and execution parameters of each sub-action. According to the analysis, the attribute information of each sub-action of the operation task is respectively encoded, so that finer encoding of the operation task attribute is realized, and the operation task is further encoded by combining the execution parameters of the sub-actions on the basis of attribute encoding, so that the operation task encoding with higher accuracy is obtained.

Inventors

WANG NA
ZHONG DAMING
Miao Shengyi
HUANG HAIMING
WU LIANGHONG

Assignees

深圳大学

Dates

Publication Date: 20260505
Application Date: 20230410

Claims (9)

1. A robot operation task coding method, comprising: decomposing the operation task of the robot to obtain each sub-action; Encoding attribute information of each sub-action to obtain attribute codes of each sub-action, wherein the attribute information is used for representing acting force attributes between a robot generating the sub-action and an object operated by the robot; Coding the operation task according to the attribute codes of the sub-actions and the execution parameters of the sub-actions, wherein the execution parameters are used for representing parameter information required to be configured by the robot for executing the sub-actions; The step of encoding the attribute information of each sub-action to obtain attribute codes of each sub-action, wherein the attribute information is used for representing acting force attributes between a robot generating the sub-action and an object operated by the robot, and comprises the following steps: Determining continuous contact, a track type and a force application direction in the attribute information, wherein the track type is used for representing the movement track type of a robot, and the force application direction is the direction of force applied to an object by the robot; Encoding the persistence contact using a two-bit binary; adopting two-bit binary coding to code the track type; the force application direction is coded by adopting two binary codes; obtaining attribute codes of the sub-actions according to the binary codes of the continuous contact, the binary codes of the track types and the binary codes of the force application directions of the sub-actions; Or determining continuous contact and track types in the attribute information, wherein the track types are used for representing the movement track types of the robot; Encoding the persistence contact using a two-bit binary; adopting two-bit binary coding to code the track type; And obtaining the attribute codes of the sub-actions according to the binary codes of the continuous contact and the binary codes of the track types of the sub-actions.
2. The method for encoding the operation task of the robot according to claim 1, wherein the decomposing the operation task of the robot to obtain each sub-action comprises: Determining an action sequence forming the operation task, wherein all actions in the action sequence are sequentially arranged according to the sequence of time for generating all actions by the robot; Comparing adjacent actions corresponding to adjacent time to obtain different adjacent actions; Dividing the different adjacent actions on the action sequence to obtain the action sequence after dividing; And obtaining each sub-action according to the action sequence after segmentation.
3. The method for encoding a task of robotic operation according to claim 1, wherein the encoding the attribute information of each sub-action to obtain the attribute code of each sub-action, the attribute information being used to characterize the force attribute between the robot generating the sub-action and the object operated by the robot, includes: determining non-contact attributes and track types in the attribute information, wherein the track types are used for representing the movement track types of the robot; adopting two-bit binary coding to code the non-contact attribute; Adopting four-bit binary coding to code the track type; And obtaining the attribute codes of the sub-actions according to the binary codes of the non-contact attributes of the sub-actions and the binary codes of the track types.
4. The method for encoding a task of robotic operation according to claim 1, wherein the encoding the attribute information of each sub-action to obtain the attribute code of each sub-action, the attribute information being used to characterize the force attribute between the robot generating the sub-action and the object operated by the robot, includes: Determining non-continuous contact in the attribute information and a paw state of the robot; Adopting two-bit binary coding to code the non-continuous contact; Adopting four-bit binary codes to code the states of the claws; And obtaining attribute codes of the sub-actions according to the non-continuous contact binary codes of the sub-actions and the binary codes of the states of the claws.
5. The method for encoding a task of operating a robot according to claim 1, wherein the encoding the task of operating according to the attribute codes of the respective sub-actions and the execution parameters of the respective sub-actions, the execution parameters being used to characterize parameter information required to be configured by the robot to execute the sub-actions, includes: adding binary codes of a start instruction before the attribute codes and adding binary codes of an end instruction after the attribute codes to obtain local codes of the operation task; And coding the operation task according to the execution parameters of each sub-action and the local codes of the operation task to obtain the global codes of the operation task.
6. The robot operation task coding method according to claim 1, further comprising: Constructing a switching code for switching each sub-action; the switch code is inserted between the attribute codes of each of the sub-actions.
7. A robot-operated task coding device, the device comprising the following components: the task decomposition module is used for decomposing the operation task of the robot to obtain each sub-action; The attribute coding module is used for coding attribute information of each sub-action to obtain attribute codes of each sub-action, and the attribute information is used for representing acting force attributes between a robot generating the sub-action and an object operated by the robot; The task coding module is used for coding the operation task according to the attribute codes of the sub-actions and the execution parameters of the sub-actions, and the execution parameters are used for representing parameter information required to be configured by the robot for executing the sub-actions; The step of encoding the attribute information of each sub-action to obtain attribute codes of each sub-action, wherein the attribute information is used for representing acting force attributes between a robot generating the sub-action and an object operated by the robot, and comprises the following steps: Determining continuous contact, a track type and a force application direction in the attribute information, wherein the track type is used for representing the movement track type of a robot, and the force application direction is the direction of force applied to an object by the robot; Encoding the persistence contact using a two-bit binary; adopting two-bit binary coding to code the track type; the force application direction is coded by adopting two binary codes; obtaining attribute codes of the sub-actions according to the binary codes of the continuous contact, the binary codes of the track types and the binary codes of the force application directions of the sub-actions; Or determining continuous contact and track types in the attribute information, wherein the track types are used for representing the movement track types of the robot; Encoding the persistence contact using a two-bit binary; adopting two-bit binary coding to code the track type; And obtaining the attribute codes of the sub-actions according to the binary codes of the continuous contact and the binary codes of the track types of the sub-actions.
8. A terminal device, characterized in that the terminal device comprises a memory, a processor and a robot operation task coding program stored in the memory and executable on the processor, the processor implementing the steps of the robot operation task coding method according to any one of claims 1-6 when executing the robot operation task coding program.
9. A computer-readable storage medium, wherein a robot-operation-task-encoding program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the robot-operation-task-encoding method according to any one of claims 1 to 6.

Description

Robot operation task coding method, device, equipment and storage medium Technical Field The present invention relates to the field of coding technologies, and in particular, to a method, an apparatus, a device, and a storage medium for coding a robot operation task. Background The autonomous intelligent agent system represented by the robot has wide application prospect and important application value in various fields such as industry, service industry and the like. In order to ensure that the robot can complete complex operation tasks, the operation tasks to be executed by the robot need to be encoded, and the subsequent robot executes corresponding operation tasks according to the encoded information. In the prior art, when an operation task is encoded, only the whole operation task is encoded, and attribute information of sub-actions forming the operation task is not encoded, so that the accuracy of encoding the operation task is lower. In summary, the encoding accuracy of the prior art for the operation task is low. Accordingly, there is a need for improvement and advancement in the art. Disclosure of Invention In order to solve the technical problems, the invention provides a method, a device, equipment and a storage medium for encoding a robot operation task, which solve the problem of lower encoding accuracy aiming at the operation task in the prior art. In order to achieve the above purpose, the present invention adopts the following technical scheme: In a first aspect, the present invention provides a robot operation task coding method, including: decomposing the operation task of the robot to obtain each sub-action; Encoding attribute information of each sub-action to obtain attribute codes of each sub-action, wherein the attribute information is used for representing acting force attributes between a robot generating the sub-action and an object operated by the robot; And encoding the operation task according to the attribute codes of the sub-actions and the execution parameters of the sub-actions, wherein the execution parameters are used for representing parameter information required to be configured by the robot for executing the sub-actions. In one implementation, the decomposing the operation task of the robot, to obtain each sub-action, includes: Determining an action sequence forming the operation task, wherein all actions in the action sequence are sequentially arranged according to the sequence of time for generating all actions by the robot; Comparing adjacent actions corresponding to adjacent time to obtain different adjacent actions; Dividing the different adjacent actions on the action sequence to obtain the action sequence after dividing; And obtaining each sub-action according to the action sequence after segmentation. In one implementation, the encoding the attribute information of each sub-action to obtain an attribute code of each sub-action, where the attribute information is used to characterize an acting force attribute between a robot generating the sub-action and an object operated by the robot, and includes: determining non-contact attributes and track types in the attribute information, wherein the track types are used for representing the movement track types of the robot; adopting two-bit binary coding to code the non-contact attribute; Adopting four-bit binary coding to code the track type; And obtaining the attribute codes of the sub-actions according to the binary codes of the non-contact attributes of the sub-actions and the binary codes of the track types. In one implementation, the encoding the attribute information of each sub-action to obtain an attribute code of each sub-action, where the attribute information is used to characterize an acting force attribute between a robot generating the sub-action and an object operated by the robot, and includes: Determining continuous contact, a track type and a force application direction in the attribute information, wherein the track type is used for representing the movement track type of the robot, and the force application direction is the direction of force applied to an object by the robot; Encoding the persistence contact using a two-bit binary; adopting two-bit binary coding to code the track type; the force application direction is coded by adopting two binary codes; obtaining attribute codes of the sub-actions according to the binary codes of the continuous contact, the binary codes of the track types and the binary codes of the force application directions of the sub-actions; Or determining continuous contact and track types in the attribute information, wherein the track types are used for representing the movement track types of the robot; Encoding the persistence contact using a two-bit binary; adopting two-bit binary coding to code the track type; And obtaining the attribute codes of the sub-actions according to the binary codes of the continuous contact and the binary codes of the track types of the su