CN107390537A - A kind for the treatment of method and apparatus based on multitask - Google Patents
A kind for the treatment of method and apparatus based on multitask Download PDFInfo
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- CN107390537A CN107390537A CN201710617439.2A CN201710617439A CN107390537A CN 107390537 A CN107390537 A CN 107390537A CN 201710617439 A CN201710617439 A CN 201710617439A CN 107390537 A CN107390537 A CN 107390537A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000004458 analytical method Methods 0.000 claims description 12
- 238000003672 processing method Methods 0.000 claims description 7
- 238000012163 sequencing technique Methods 0.000 claims description 7
- 230000002452 interceptive effect Effects 0.000 abstract description 11
- 230000003993 interaction Effects 0.000 abstract description 7
- 238000004140 cleaning Methods 0.000 description 9
- 230000009471 action Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 235000012364 Peperomia pellucida Nutrition 0.000 description 1
- 240000007711 Peperomia pellucida Species 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 238000004378 air conditioning Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2642—Domotique, domestic, home control, automation, smart house
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the invention discloses a kind for the treatment of method and apparatus based on multitask, including：Under controlled device is in running order, the control instruction of outside input is received；The authority of the control instruction is analyzed and processed, generates the permissions data of control instruction corresponding to the control instruction；Whether the authority for judging the control instruction according to the permissions data of the control instruction matches the authority of control instruction under current operating state；The authority of control instruction under the permission match current operating state of the control instruction, perform the control instruction, solve the problems, such as robot can not carry out multi-person interactive with interaction real-time it is low, realize the multi-person interactive of robot, improve the real-time of robot multi-person interactive.
Description
Technical field
The present embodiments relate to task processing technology field, more particularly to a kind of processing method and dress based on multitask
Put.
Background technology
With the fast development of intelligent robot technology, requirement of the people to robot is more and more, each so as to emerge
The robot of type, the function of robot is also varied, can engage in the dialogue, can also do housework.
At present, in the application of robot, robot can carry out man-to-man interaction, but can not carry out multi-person interactive,
It so as to cause the interaction interaction real-time of robot low, and can not effectively in real time interact, have impact on the entirety of robot
Performance.
The content of the invention
The purpose of the embodiment of the present invention is to propose a kind for the treatment of method and apparatus based on multitask, to realize robot
Multi-person interactive, improve the real-time of robot multi-person interactive.
On the one hand, the embodiments of the invention provide a kind of processing method based on multitask, including：
Under controlled device is in running order, the control instruction of outside input is received；
The authority of the control instruction is analyzed and processed, generates the authority of control instruction corresponding to the control instruction
Data；
Whether the authority for judging the control instruction according to the permissions data of the control instruction matches current operating state
The authority of lower control instruction；
The authority of control instruction under the permission match current operating state of the control instruction, perform the control and refer to
Order.
Further, the authority of the control instruction includes user right and/or instruction authority, wherein：
The user right is the User Priority size for sending the control instruction, and the instruction authority is described in execution
The sequencing of the corresponding instruction of control instruction.
Further, the control instruction also includes the position of the control instruction, wherein：
The position of the control instruction is the position that user sends the control instruction, passes through the size and/or hand of sound
The far and near identification of machine control machine people obtains.
Further, when the controlled device does not receive the control instruction of outside input, perform the control pre-set and refer to
Order.
On the other hand, the embodiments of the invention provide a kind of processing unit based on multitask, including：
Command reception module, under controlled device is in running order, receiving the control instruction of outside input；
Instruction analysis module, for being analyzed and processed to the authority of the control instruction, generate the control instruction pair
The permissions data for the control instruction answered；
Instructions match module, for judged according to the permissions data of the control instruction control instruction authority whether
Match the authority of control instruction under current operating state；
Instruct execution module, the power for the control instruction under the permission match current operating state of the control instruction
Limit, performs the control instruction.
Further, the authority of the control instruction includes user right and/or instruction authority, wherein：
The user right is the User Priority size for sending the control instruction, and the instruction authority is described in execution
The sequencing of the corresponding instruction of control instruction.
Further, the control instruction also includes the position of the control instruction, wherein：
The position of the control instruction is the position that user sends the control instruction, passes through the size and/or hand of sound
The far and near identification of machine control machine people obtains.
Further, when the controlled device does not receive the control instruction of outside input, perform the control pre-set and refer to
Order.
The treating method and apparatus based on multitask provided in the embodiment of the present invention, it is in running order in controlled device
Under, controlled device can receive the control instruction of outside input, and then judge whether the authority of control instruction matches work at present
State, control instruction matching current operating state control instruction authority when, perform control instruction, solve robot without
Method carries out the problem of multi-person interactive is low with interaction real-time, realizes the multi-person interactive of robot, it is mutual to improve the more people of robot
Dynamic real-time.
Brief description of the drawings
Fig. 1 is a kind of schematic flow sheet for processing method based on multitask that the embodiment of the present invention one provides.
Fig. 2 is a kind of structural representation for processing unit based on multitask that the embodiment of the present invention two provides.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.It is appreciated that
It is that specific embodiment described herein is used only for explaining the present invention, rather than limitation of the invention.Further need exist for illustrating
, for the ease of description, part related to the present invention rather than entire infrastructure are illustrate only in accompanying drawing.
Embodiment one
A kind of schematic flow sheet for processing method based on multitask that Fig. 1 provides for the embodiment of the present invention one, this method
Can be by being performed based on the processing unit of multitask, the device can be realized by the way of software and/or hardware, such as Fig. 1
Shown, this method includes：
S101, under controlled device is in running order, receive the control instruction of outside input.
Generally, controlled device can be located in the standby state, when controlled device enters working condition, be controlled dress
Put the control instruction outside being received by the external input device set in controlled device.Wherein, the work of controlled device
Controlled device is can be understood as in the state normally started as state, it is also understood that being carrying out a control for controlled device
The working condition of instruction.For example, after robot is in normal activation state, control instruction and the docking of multiple outsides can be received
The multiple external control instructions received are handled.And/or robot is in the working condition for being carrying out a control instruction, may be used also
To receive the control instruction of multiple outsides again, at this moment need to the control instruction that is carrying out and multiple outsides for receiving again
Control instruction carries out Treatment Analysis, obtains the control instruction after a processing, the control instruction after last robot execution processing.
For example, in the present embodiment, above-mentioned control instruction includes the instruction of pure action and the instruction of pure voice.Lift
For example, the instruction of pure action can be understood as robot take instrument cleaning, to user terminal coffee, by by remote control
Button, which opens TV etc., to be needed to perform the instruction of actual act.The instruction of pure language can be understood as robot by wirelessly opening
TV, the instruction acted by wirelessly opening air-conditioning etc. by data communication mode execution.Wherein, particularly with regard to the finger of pure action
Differentiation between order and the instruction of pure language can be divided by the setting to controlled device to the type of control instruction.
S102, the authority to the control instruction analyze and process, and generate control instruction corresponding to the control instruction
Permissions data.
In the present embodiment, because control instruction can be the control instruction for the speech form that user sends, can also be
The instruction sent by the button set on keyboard, therefore controlled device also needs to carry out at analysis the control instruction of reception
Reason, generate control instruction data corresponding to control instruction.Wherein, control instruction data can be directly by corresponding control processor
The control instruction data are identified, and instruction action corresponding to the control instruction data is performed by corresponding equipment.
In the present embodiment, controlled device can receive multiple external control instructions, it is therefore desirable to the multiple outer of reception
Portion control instruction carries out Treatment Analysis, and the control instruction data that specification is compared in generation facilitate the reading of corresponding control processor.Its
Middle control instruction can include the authority of control instruction and the type of control instruction etc., the control instruction data generated accordingly
The permissions data of control instruction and the categorical data of control instruction can be included.
S103, according to the permissions data of the control instruction judge whether the authority of the control instruction matches work at present
The authority of control instruction under state.
Specifically, in the present embodiment, permissions data of the control instruction packet containing control instruction, the current work of controlled device
The authority for making control instruction under state can be understood as the authority for the control instruction that current controlled device is carrying out.Due to controlled
Device can also receive at least one external control instruction, controlled device need to select from multiple external control instructions one with
The external control instruction of controlled device current operating state matching.For example, controlled device receives male owner and the hostess two
Individual external control instruction is, it is necessary to the user right for sending two external commands and sending control instruction under current operating state
User right carries out permission match, is controlled if the user right for sending two external commands is all higher than sending under current operating state
Make the user right of instruction, then the authority that the two external commands match control instruction under current operating state is considered as,
Also need to further the user right size for sending two external commands is compared to determine the two external control instructions
Execution before and after order, if the authority of male owner is more than the authority of the hostess, perform the external control instruction of male owner, such as
The authority of the fruit hostess is more than the authority of male owner, performs the external control instruction of the hostess；If send two external commands
User right be respectively less than the user right of control instruction under current operating state, then be considered as the two external commands not
The authority of control instruction under current operating state is matched, refusal performs the two external control instructions, continues to keep work at present
State.It can be configured as needed for the authority size issue of above-mentioned male owner and the control instruction of the hostess, can be with
It is that the authority of male owner is more than the hostess, can also be that the authority of the hostess is more than the authority of male owner, can also continue to increase
Other users, concrete power limit are set sequential in accordance with actual conditions.
In the present embodiment, can also be matched according to instruction authority, for example, controlled device is in work shape
Under state, the external control instruction for the cleaning that a male owner sends and the external control instruction of end coffee are at this moment received,
Controlled device needs the control instruction of the cleaning to receiving, holds the external control instruction and the current work of controlled device of coffee
The instruction authority for making control instruction under state carries out discriminatory analysis, if the external control instruction of male owner's cleaning and end coffee
The external control instruction of coffee meets control instruction under the current operating state of controlled device, then controlled device is also needed to sweeping
The control instruction of health and the external control instruction of end coffee are judged, if the instruction authority of the control instruction of cleaning
More than the instruction authority of the external control instruction of end coffee, then the control instruction of cleaning, then actuating station coffee are first carried out,
The tandem (the authority size instructed) of specific instruction can in the light of actual conditions be pre-set；Defended if male owner sweeps
Raw external control instruction and the external control instruction of end coffee are unsatisfactory for control instruction under the current operating state of controlled device,
So controlled device can refuse to perform the order of male owner and not remove cleaning.Wherein controlled device can be robot.
For example, when family of three is required for chatting with robot, for example child needs robot to tell a story, female master
People needs robot to sing, and male owner needs robot to play news, and at this moment controlled device receives three users and sent not
Same control instruction, the authority of control instruction include user right and instruction authority.Wherein, user include male owner, the hostess and
Child, corresponding user right include authority, the authority of the hostess and the authority of child of male owner；Authority is instructed to include corresponding
Male owner need robot to play the instruction authority of news, the hostess needs the instruction authority and child's needs of robot singing
The instruction authority that robot tells a story.At this moment just need whether control instruction is judged according to user right and/or instruction authority
Match the authority of the control instruction under current operating state.
In the present embodiment, the control instruction under current operating state is that male owner needs to hold coffee instruction, while machine
People also receives instruction and the child that the male owner of outside needs the instruction of robot broadcasting news, the hostess to need robot singing
The instruction that robot tells a story is needed, robot first can be judged the authority of user, i.e., to male owner, the hostess and small
The authority of child is judged, performs the control instruction that the maximum user of authority sends.Assuming that the authority set in robot is suitable
Sequence is male owner, the hostess and child, then the control instruction of male owner is first carried out, because male owner has two control instructions
Need robot to play news instruction including the end coffee instruction under current operating state and the male owner received, now also need to
Opposite end coffee instruction and robot play the authority that news instructs and judged, are played newly if the authority of end coffee instruction is more than
The authority of instruction is heard, at this moment robot keeps the working condition when front end coffee, and refusal, which performs, plays news instruction, or waits and holding
Robot, which is further continued for performing, after the coffee instruction graduates of row end plays news instruction, and then continues executing with corresponding to the hostess and child
Control instruction, when performing control instruction corresponding to the hostess and child, if the hostess and child also have multiple control instructions,
The similar authority to instruction of same above-mentioned steps is also needed to be judged and performed.
In such scheme, the judgement order and execution sequence of user right and instruction authority can carry out front and rear conversion,
The authority of user and the authority of instruction can be set according to actual conditions, such as user right can set male owner most
Greatly, the hostess second and child's authority the 3rd, instruction authority can be according to instruction importance, the time order and function orders of command reception
Etc. being configured.
S104, under the permission match current operating state of the control instruction control instruction authority, perform the control
System instruction.
Preferably, the authority of the control instruction includes user right and/or instruction authority, wherein：
The user right is the User Priority size for sending the control instruction, and the instruction authority is described in execution
The sequencing of the corresponding instruction of control instruction.
Refer to specifically, whether at least one external command that controlled device judges to receive matches control under current operating state
When making, it can be differentiated according to user right and/or instruction authority.In the present embodiment, when family of three is required for machine
When device people chats, for example child needs robot to tell a story, and the hostess needs robot to sing, and male owner needs robot to play
News, at this moment controlled device receive the different control instructions that three users send, the authority of control instruction includes user right
With instruction authority.Wherein, user includes male owner, the hostess and child, and corresponding user right includes the authority of male owner, female
The authority of owner and the authority of child；Instruction authority include corresponding male owner need robot play news instruction authority,
The hostess needs the instruction authority and child's instruction authority for needing robot to tell a story that robot sings.At this moment basis is just needed
User right and/or instruction authority judge whether control instruction matches the authority of the control instruction under current operating state.Example
Such as, the control instruction under current operating state needs to hold coffee instruction for what male owner sent, while robot also receives outside
Male owner need robot to play the instruction of news, the hostess needs instruction that robot sings and child needs robot to say
The instruction of story, robot first can be judged the authority of user, i.e., the authority of male owner, the hostess and child are carried out
Judge, perform the control instruction that the maximum user of authority sends.Herein when male owner's authority maximum, because male owner has two
The male owner that individual control instruction includes the end coffee instruction under current operating state and received needs robot to play news instruction,
Therefore also need to opposite end coffee instruction and robot plays the authority that news instructs and judged, if the authority of end coffee instruction
Higher than the authority of broadcasting news instruction, then robot keeps the working condition when front end coffee, and refusal execution plays news and referred to
Order, or wait actuating station coffee instruct after robot be further continued for performing and play news instruction, and then continue executing with next authority
Control instruction corresponding to user, when performing control instruction corresponding to the user of next authority, if same user has multiple controls
System instruction, it is also necessary to which the authority for instruction similar with above-mentioned steps is judged and performed.It is worth noting that, in this implementation
In example, the judgement order and execution sequence of user right and instruction authority can carry out front and rear conversion, the authority of user and instruction
Authority can be set according to actual conditions, such as user right can set maximum male owner, the hostess second and small
Child's authority the 3rd, instruction authority can be configured according to tandem for instructing importance, command reception etc..
Preferably, the control instruction also includes the position of the control instruction, wherein：
The position of the control instruction is the position that user sends the control instruction, passes through the size and/or hand of sound
The far and near identification of machine control machine people obtains.
In the present embodiment, controlled device can also be known by the size of sound and/or the far and near of mobile phone control robot
The distance between controlled device and user information are not obtained, are further made overall planning.Such as when robot is controlled
Cleaning is instructed, when the instrument swept the floor is gone for, if by coffee machine, terminal master a cup of Java can be given in passing.
Preferably, when the controlled device does not receive the control instruction of outside input, the control instruction pre-set is performed.
Specifically, in the present embodiment, when controlled device is in no receive in the case of external control instruction, it can hold
The control instruction that row user sets in controlled device in advance, in a kind of default control command mode, and when reception
To during instruction, external command can be received and carry out Treatment Analysis, decide whether to perform the external control instruction received.
The embodiments of the invention provide a kind of processing method based on multitask, receives outside control by controlled device and refers to
Order, and matched with the working condition of controlled device, if matching controlled device working condition, perform outside control and refer to
Order, if mismatching controlled device working condition, refusal performs the external control instruction, and more people can not be carried out by solving robot
The problem of interactive, improve the real-time of the interaction interaction of robot.
Embodiment two
Fig. 2 is the structural representation of the processing unit based on multitask in the embodiment of the present invention two, as shown in Fig. 2 base
Include in the processing unit of multitask：
Command reception module 210, under controlled device is in running order, receiving the control instruction of outside input；
Instruction analysis module 220, for being analyzed and processed to the authority of the control instruction, generate the control instruction
The permissions data of corresponding control instruction；
Instructions match module 230, for judging the authority of the control instruction according to the permissions data of the control instruction
Whether the authority of current operating state under control instruction is matched；
Execution module 240 is instructed, for the control instruction under the permission match current operating state of the control instruction
Authority, perform the control instruction.
Preferably, the authority of the control instruction includes user right and/or instruction authority, wherein：
The user right is the User Priority size for sending the control instruction, and the instruction authority is described in execution
The sequencing of the corresponding instruction of control instruction.
Wherein, the Permission Levels for the user that instruction analysis module 220 is set according to user in controlled device and instruction are weighed
Rank is limited, the external control instruction of reception is analyzed, obtains the user right and instruction authority number of corresponding control instruction
According to, and the sequence of priority size and instruction execution of the user is obtained according to user right data and/or instruction permissions data
Sequencing.
Preferable, the control instruction also includes the position of the control instruction, wherein：
The position of the control instruction is the position that user sends the control instruction, passes through the size and/or hand of sound
The far and near identification of machine control machine people obtains.
Wherein, instruction analysis module 220 can pass through command reception position according to the instruction of command reception module 210 identification
Instruction transmitting procedure between controlled device obtains the position between user and controlled device, such as passes through sound transducer
And/or locating module is calculated the position between user and controlled device.Instruction analysis module 220 can also be according to obtaining
Controlled device and user the further overall planning of distance.Such as when robot obtains control instruction cleaning, when going
When looking for the instrument swept the floor, if by coffee machine, terminal master a cup of Java can be given in passing.Instruction analysis module 220 is also
Whether idle condition can be according to controlled device, carry out certain planning, for example, when family has TV or other equipment
When, then robot can automatically open up TV, allow male owner to see news, if phonotape and videotape, automatically open up phonotape and videotape, play
Music, then told a story to child
Preferably, when the controlled device does not receive the control instruction of outside input, the control instruction pre-set is performed.
The embodiment of the present invention receives external control instruction by controlled device, and is carried out with the working condition of controlled device
Match somebody with somebody, if matching controlled device working condition, performs the external control instruction, if mismatching controlled device working condition, refuse
The external control instruction is performed absolutely, solves the problems, such as that robot can not carry out multi-person interactive, improves the interactive friendship of robot
Mutual real-time.
The processing unit based on multitask that the embodiment of the present invention is provided can perform any embodiment of the present invention and be provided
The processing method based on multitask, possess the corresponding functional module of execution method and beneficial effect.
Pay attention to, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although being carried out by above example to the present invention
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (8)
- A kind of 1. processing method based on multitask, it is characterised in that including：Under controlled device is in running order, the control instruction of outside input is received；The authority of the control instruction is analyzed and processed, generates the authority number of control instruction corresponding to the control instruction According to；Judge the authority of the control instruction whether to match under current operating state according to the permissions data of the control instruction to control Make the authority of instruction；The authority of control instruction, performs the control instruction under the permission match current operating state of the control instruction.
- 2. according to the method for claim 1, it is characterised in that the authority of the control instruction include user right and/or Authority is instructed, wherein：The user right is the User Priority size for sending the control instruction, and the instruction authority is the execution control The sequencing of the corresponding instruction of instruction.
- 3. according to the method for claim 1, it is characterised in that the control instruction also includes the position of the control instruction Put, wherein：The position of the control instruction sends the position of the control instruction, size and/or mobile phone control by sound for user The far and near identification of robot processed obtains.
- 4. according to the method for claim 1, it is characterised in that the controlled device does not receive the control instruction of outside input When, perform the control instruction pre-set.
- 5. a kind of processing unit based on multitask, it is characterised in that described device includes：Command reception module, under controlled device is in running order, receiving the control instruction of outside input；Instruction analysis module, for being analyzed and processed to the authority of the control instruction, generate corresponding to the control instruction The permissions data of control instruction；Instructions match module, for judging whether the authority of the control instruction matches according to the permissions data of the control instruction The authority of control instruction under current operating state；Execution module is instructed, for the authority of the control instruction under the permission match current operating state of the control instruction, is held The row control instruction.
- 6. device according to claim 5, it is characterised in that the authority of the control instruction include user right and/or Authority is instructed, wherein：The user right is the User Priority size for sending the control instruction, and the instruction authority is the execution control The sequencing of the corresponding instruction of instruction.
- 7. device according to claim 5, it is characterised in that the control instruction also includes the position of the control instruction Put, wherein：The position of the control instruction sends the position of the control instruction, size and/or mobile phone control by sound for user The far and near identification of robot processed obtains.
- 8. device according to claim 5, it is characterised in that the controlled device does not receive the control instruction of outside input When, perform the control instruction pre-set.
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| CN201710617439.2A CN107390537A (en) | 2017-07-26 | 2017-07-26 | A kind for the treatment of method and apparatus based on multitask |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112306012A (en) * | 2019-07-31 | 2021-02-02 | 竹陞科技股份有限公司 | Factory management system and control system |
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