Design Of Complex Task Modeling And Planning System Based On Human Machine Cooperation

With the application of mutual aid robot more and more widely,there are many problems,such as non standardization robot application scenarios,complex task process planning,task compact and so on.How to organically integrate the ease of use and reducing the coupling degree of tasks into the ease of use of mutual aid robot system is the key technical problem to be solved in this paper.Aiming at the requirements of mutual aid robot,the task modeling technology,task process optimization technology and graphical platform technology are studied to form a user application environment with simple programming and easy to use.The usability task modeling system of mutual aid robot is established.The main achievements are as follows:In order to better describe the interaction process between human and robot,a method of human-computer cooperative task modeling and analysis is proposed,which aims to overcome the limitations of existing methods that can only be used in specific fields and can not plan in real time.Users need to deeply analyze the structure of the task,understand the process of completing the target task in the actual environment,and organize the data obtained from the task analysis in a structured and hierarchical manner according to a certain granularity to establish the final task model.By integrating human planning and decision-making ability,and using relational symbols to describe the relationship between tasks,the new task model can be applied to different task scenarios,and can cope with the dynamic changes of the environment.The above task model only defines the required tasks and their relationships,but the coupling relationship between tasks such as iteration or overlap is not considered.Therefore,FAHP is used to measure the coupling degree between tasks,and the quantitative value of the coupling degree of tasks is mapped to FDSM combined with the design structure matrix In order to achieve the goal of reducing the number of task feedback and the distance of task feedback,the DSM is completed through the coupling task planning method based on task segmentation algorithm Finally,based on the preliminary planning of the coupling task,the task tearing algorithm is used to realize the transformation of the internal and external coupling relationship,so as to simplify the coupling relationship and make the new task process have shorter execution time and resource consumption compared with the previous task process.In view of the complexity of task process editing,the model driven graphical control program technology is studied.On the basis of IEC61131-3 standard,the software model,task elements and task planning standard based on module are designed.After the task is planned,the task decoupling technology is used to simplify the coupling relationship between tasks,and then the simulation function is used to verify.This method can greatly reduce the difficulty of software development and maintenance costs,improve the efficiency of software development,and enhance the scalability of software.