CN101362334A - Intelligent robot and operation method thereof - Google Patents
Intelligent robot and operation method thereof Download PDFInfo
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- CN101362334A CN101362334A CNA200810222789XA CN200810222789A CN101362334A CN 101362334 A CN101362334 A CN 101362334A CN A200810222789X A CNA200810222789X A CN A200810222789XA CN 200810222789 A CN200810222789 A CN 200810222789A CN 101362334 A CN101362334 A CN 101362334A
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Abstract
The invention discloses an intelligent robot and the operation method thereof. The intelligent robot comprises one or more signal processors and further comprises a priority and state control unit, wherein, the priority and state control unit is used for acquiring, analyzing and processing the state information of the intelligent robot and the priority and state information of the signal processors. By adopting the technical proposal, the intelligent robot can carry out the requests of a plurality of simultaneous events and perform reasonable parallel processing response or priority processing.
Description
Technical field
The present invention relates to the intelligent robot technology field, relate in particular to a kind of intelligent robot and How It Works thereof.
Background technology
The function of intelligent robot, especially the function of the removable intelligent robot of class people, along with image is handled, speech processes, radio network technique, automatically the development of technology such as control and computing ability, its function has had the raising of advancing by leaps and bounds at present, includes the image acquisition visual performance, accepts the processed voice instruction in real time, there not being under the prerequisite of remote control to arrive automatically function such as appointed place, more and more used in fields such as military affairs, security protection, office and families.
Existing intelligent robot just demonstrates its reliability and practicality when handling a plurality of single incident that takes place in order.When a plurality of concurrent events produced, intelligent robot often encountered difficulties on processing and priority are judged in real time or lacks flexibility and practicality.Such as, intelligent robot can be experienced and responds when others claps his head by sensor, such as voice inquiry " what " after the rotary head etc., but when he is carrying out a certain instruction as in the way of going to certain place, having run on one side the barrier minibreak need handle and get around obstacle, if at this time others claps his head, he must judge and select: be earlier racket head to be responded, still ignore and get around obstacle earlier, or stop the task of carrying out? if receiving other people's the new another one place of instructing simultaneously again goes, or having more incident also to take place simultaneously, it is complicated more that the priority processing ability of intelligent robot can become.
Present common way is two classes: the first kind did not process other event and instruction before handling the incident of accepting carrying out; The second class priority treatment is up-to-date/or last instruction or incident.Even if can handle eventful more complicated priority treatment, also can only shift to an earlier date fixedly processing sequence of pre-programmed to contingent incident, there is not flexibility, the intelligent of intelligent robot had a greatly reduced quality.
Summary of the invention
The objective of the invention is to propose a kind of intelligent robot and How It Works thereof, make intelligent robot to receive and handle a plurality of requests that incident takes place simultaneously, and make rational parallel processing response or priority processing.
For reaching this purpose, the present invention by the following technical solutions:
A kind of intelligent robot, comprise one or more signal processors, also comprise priority and status unit, described priority and status unit are used to obtain, analyze and handle the status information of described intelligent robot and the priority and the status information of described signal processor.
Described priority and status unit comprise eventful parallel processing and priority analysis processing module and state table module, described eventful parallel processing and priority analysis processing module are used to receive and analyze the priority and the status information of new events, and adjust described state table module.
Also comprise control processing CPU element, data/address bus and control bus;
Described one or more signal processor is handled CPU element by data/address bus and described control and is connected, and is used to carry out data communication.
Described control bus comprises robotary line, signal processor address wire and priority line;
Described robotary line is used to transmit the status information of described robot;
Described signal processor address wire is used to transmit the status information of described signal processor;
Described priority line is used to transmit the precedence information of the new events of described signal processor.
Described signal processor comprises one or more in the following processor: inductor signal processor, described vision/image-signal processor, the described sense of hearing/voice signal processor and described expression/action/mobile control signal processor.
A kind of How It Works of intelligent robot may further comprise the steps:
The signal processor of A, described intelligent robot obtains instruction or induced signal;
B, described signal processor detect the residing state of described intelligent robot by control bus;
C, according to the classification of described instruction or induced signal, send the application instruction to priority and status unit by described control bus;
After D, described priority and status unit are handled, result is sent to control handle CPU element;
E, described control are handled CPU element and are carried out data interaction by data/address bus and described signal processor.
Described step D further may further comprise the steps:
Described priority and status unit receive the application instruction;
Judge that described intelligent robot whether can't execution work, if interrupt requests then keeps charging or other state of living in of can't working at present, if otherwise continue to carry out request;
Whether judge described intelligent robot just in execution work, if then enter eventful priority processing flow process, if otherwise continue;
Judging whether described intelligent robot receives simultaneously is no less than 2 application instructions, if then enter eventful priority processing flow process; If not, then send the result of application for execution instruction, and upgrade the state table of described intelligent robot.
Described eventful priority processing flow process may further comprise the steps:
Judge whether described intelligent robot can't work, if interrupt requests then keeps charging or other state of living in of can't working at present, if otherwise continue to carry out request;
Judge whether new events conflict with former incident, if do not conflict then carry out former incident and new events simultaneously, if conflict then continue next step;
Judge new events whether than the priority height of former incident, if otherwise continue to carry out former incident, if then continue next step:
Judge that whether other new events can carry out simultaneously with the high new events of described priority, if then carry out simultaneously, if otherwise carry out the high new events of described priority, when robot finish the instruction task/and other state after, automatically get back to " waiting for instructing/idle " state, other state zero clearing, and wait for new request.
In the described step e, described control is handled CPU element and is adopted mode and the described signal processor of time-division to carry out data interaction by data/address bus, when described signal processor was in idle condition and exceeds Preset Time, described control was handled CPU and also can active cycle be sent the instruction that prestores in the holder and carry out to the signal processor of correspondence.
Among the described step B, described signal processor is determined the condition line bit by the electric current of the condition line in the control bus, thereby determines the residing state of described intelligent robot.
Described step C is further comprising the steps of:
Described signal processor sends to described priority and status unit by the signal processor address wire in the described control bus with its status information.
Among the step C, described signal processor adopts the mode of time-division will apply for that instruction sends to described priority and status unit by described control bus.
Described precedence information is determined according to event initiator classification and event request classification.
Described control bus and data/address bus are synchro systems.
Adopted technical scheme of the present invention, can be according to the identity of sending instruction person (as owner or stranger), event category, state of living in (as executing state, armed state, charging or service mode) etc., realize the ability of various a plurality of concurrent events processing priority neatly, make intelligent robot intellectuality and hommization more.
Description of drawings
Fig. 1 is an intelligent robot internal structure schematic diagram in the specific embodiment of the invention;
Fig. 2 is the schematic diagram that each signal processor and priority and status unit carry out data communication in the specific embodiment of the invention;
Fig. 3 is the frame structure schematic diagram that each signal processor and priority and status unit carry out data communication in the specific embodiment of the invention;
Fig. 4 is logic and the state table module schematic diagram that a plurality of concurrent events are handled simultaneously or according to priority handled in the specific embodiment of the invention;
Fig. 5 is that CPU carries out data communication by data/address bus and each processor frame structure schematic diagram is handled in control in the specific embodiment of the invention;
Fig. 6 is a plurality of flow charts that the request and the processing of incident take place simultaneously in the specific embodiment of the invention;
Fig. 7 is the flow chart of eventful priority processing in the specific embodiment of the invention.
The specific embodiment
Further specify technical scheme of the present invention below in conjunction with accompanying drawing and by the specific embodiment.
Fig. 1 is an intelligent robot internal structure schematic diagram in the specific embodiment of the invention.As shown in Figure 1, this intelligent robot comprises control processing CPU element 101, priority and status unit 102, inductor signal processor 103, vision/image-signal processor 104, the sense of hearing/voice signal processor 105, expression/action/mobile control signal processor 106, and other state control signal processors.
Inductor signal processor, vision/image-signal processor, the sense of hearing/voice signal processor and expression/action/mobile control signal processor is handled CPU element by data/address bus and control and is connected, and is used to carry out data communication.
Inductor signal processor, vision/image-signal processor, the sense of hearing/voice signal processor and expression/action/mobile control signal processor is handled CPU element and is connected by control bus and priority and status unit, control, is used to obtain, analyze, handle the priority and the status information of intelligent robot and inductor signal processor, vision/image-signal processor, the sense of hearing/voice signal processor and expression/action/mobile control signal processor.
Priority and status unit comprise eventful parallel processing and priority analysis processing module and state table module, eventful parallel processing and priority analysis processing module are used to receive, analyze the priority and the status information of new events, and adjust state table module.State table module comprises two parts: first is the event initiator table, comprising: friend, stranger or the robot of household/registration of owner, owner itself.Second portion is the robotary table, comprising the original place idle/armed state, upgrade automatically when being in the interworking state of carrying out the duty that moves, duty, original place and voice that the original place is relevant with camera video and being correlated with, inoperable state, state variation, after incident finishes, block of state zero setting recovery reset condition.
Control bus comprises robotary line, signal processor address wire and priority line, the robotary line is used for the status information of transfer robot, the signal processor address wire is used to transmit the status information of inductor signal processor, vision/image-signal processor, the sense of hearing/voice signal processor and expression/action/mobile control signal processor, and the priority line is used to transmit the precedence information of the new events of inductor signal processor, vision/image-signal processor, the sense of hearing/voice signal processor and expression/action/mobile control signal processor.
Robot interior intelligence architecture is based on a plurality of distributed signal processors (DSP) and handles CPU by control and do centralized Control and data processing.But the input information of each signal processor special disposal response has exemplified among Fig. 1: vision/image-signal processor, the sense of hearing/voice signal processor, mobile control signal processor, various inductors.
Signal processor, other state control (the content demonstration that charging/touch screen is relevant etc.) signal processor.In actual applications, can increase the quantity or the disposal ability of dedicated signal processors according to demand.Also be suitable for intelligent robot based on wireless network such as the present invention, at this time will increase the relevant signal processor of the webserver, the professional relevant signal processor of Long-distance Control is (as realizing long-range removable monitoring etc. by mobile phone or computer.The benefit of selecting for use a plurality of distributed signal processors (DSP) to do special information processing is that design cost is lower than universal cpu, and response is fast, and upgrading is convenient.In addition, because the specificity of signal processor, robot can further obtain information with different modes such as image, action, sound simultaneously and can move with image, and different modes such as sound respond simultaneously.
Each signal processor is connected with control bus with the data/address bus of robot interior respectively.When certain signal processor of intelligent robot had obtained certain instruction or induced signal, it at first by the residing state of control bus detection machine people, sent according to classes of instructions then and applies for instructing the robot interior control bus.Information on Internal Control Bus IBC is focused on by priority and status unit, and after obtaining handling, reaction is given to focus on device CPU and begin and carried out data interaction by data/address bus with relevant certain or a plurality of signal processor.Native system is based on the synchro system of same clock.The data interaction on data/address bus and the information interaction of control bus all are that the mode according to synchro system realizes.
Intelligent robot can be in following one of four states at any time: duty, and idle/armed state, charged state, special state (/ etc.).Front two shows that condition line can be with two bit as shown in table 1 showing in control bus.These two condition lines are controlled by priority and status unit.
Table 1
| Robot state of living in | The condition line bit |
| Special off working state | 00 |
| Charged state | 01 |
| Duty | 10 |
| Leave unused/armed state in the original place | 11 |
Thereby each signal processor is easy to determine the residing state of the definite robot of condition line bit by the electric current of the condition line that detects the intelligent robot Internal Control Bus IBC.
Intelligent robot can be defined as more specifically at any time, and state such as eight states in the table 2, and can be that three bits show with the front three condition line to increase its controllability in control bus.These three condition lines are also controlled by priority and status unit.
Table 2
| Robot state of living in | Priority |
| Special off working state | 000 |
| Charged state | 001 |
| Be in the duty that carry out to move (from the somewhere to other place or route patrol, lean on inductor and vision) | 010 |
| The interworking state that the original place is relevant with voice | 011 |
| The interworking state that the original place is relevant with inductor (response that head, hand, health are touched etc.) | 100 |
| The duty that the original place is relevant with camera video (personage/scene Recognition, virtual imaging, video recording/photography etc.) | 101 |
| The interworking state that the original place is relevant with touch screen (touch screen instruction, content play, game class) | 110 |
| Leave unused/armed state in the original place | 111 |
Each signal processor is easy to determine that by the electric current of the condition line that detects the intelligent robot Internal Control Bus IBC thereby the condition line bit determines that the residing state of robot (is a low current during as 0 bit; During 1 bit high electric current).
The following several lines of robot interior control bus are the signal processor address wire: the corresponding fixing address wire of each signal processor, also represent the state of this signal processor: do not have information input/or ask for this signal processor such as 0 o'clock with bit 0 or 1; Be 1 o'clock, this signal processor has new information input/or request; It also is that address state according to signal processor transmits information that control is handled when CPU does the data response; When this address state was zero, the data of corresponding data/address bus constantly were not to it, and are so this signal processor is not done acceptance to the data of correspondence data/address bus constantly, opposite then accept the transmission information of CPU.In Fig. 2, have state and the address that five condition lines are determined signal processor so have five signal processors.
If robot is in charged state or special state can't work the time, (senses the someone as inductor and clap his head if receive the request of information processing simultaneously; Perhaps receive phonetic order), receive that so the signal processor of information processing request is made change (such as changing to bit 1 from bit 0) to its address bit state; Priority and status unit are interpreted as new incident to the change of state and take place, and pass to control processing CPU; CPU sends the voice responsive prompting for automatically the sense of hearing/voice signal processor according to the residing state of robot: if be in charged state such as robot, voice signal processor can voice responsive prompt for: " sorry; that I temporarily can not provide service in charging."; If robot is in special state, voice signal processor can voice responsive prompt for: " sorry, I temporarily can not provide service, please call hotline and understand reason." at this moment robot concrete event request is not done concrete processing.
If robot is in and awaits orders or during idle state, if when receiving the one or more information processing request that occurs simultaneously simultaneously, the signal processor of receiving the information processing request so it/their address bit state makes change (such as changing to bit 1 from bit 0); The synchronous signal processor according to the incident that receives/or information/or the instruction automatic clustering send corresponding priority application and be dealt into priority and status unit by control bus.Priority and status unit are dealt with according to the priority of receiving and are judged, and make control processing CPU make corresponding reaction according to the result.
When taking place simultaneously for eventful, at first intelligent robot should be able to be accepted eventful processing request, next judges whether to have the ability and meets logic to handle simultaneously and respond, again secondly, if simultaneously during logical the processing, make correct decision and the response according to priority handled.
Classification and priority that incident takes place can be stipulated (also can make adjustment with application according to the actual requirements, but the implementation of system being the same) in the following manner:
The first kind: relatives/stranger's of owner/member or owner request event.
Intelligent robot can be registered in advance according to owner's face-image feature or phonetic feature.After the pre-registration, intelligent robot can by vision camera/or phonetic feature identification engine do feature and come relatively whether the decision event promoter is the owner of oneself.Intelligent robot also can be according to a limited number of owner's group member or kinsfolk's face-image feature or phonetic feature are registered in advance.Otherwise perhaps, the feature of the individual persons that also can not welcome owner of intelligent robot is registered in advance.In addition robot can initiate some incidents automatically, as the reminding service that pre-sets, and judge and not go charging when battery has electricity soon, or based on the business such as active greeting of vision.So can be distinguished event initiator with two bits, as shown in table 3.
Table 3
| Event initiator | Priority |
| Owner | 00 |
| Household/friend of owner | 01 |
| Stranger or special people | 10 |
| Robot itself | 11 |
Second class: the classification of new generation incident/information processing request.
The classification of generation incident/information processing request can be by classifying shown in the table 4.
Table 4
| One or more new events request classifications | Priority class |
| Can not continue the relevant information of operate as normal with robot | 000 |
| Early warning before needing the information of charging and going charging automatically | 001 |
| The business that robot automatically initiates (reminding business etc.) on time | 010 |
| Receive new phonetic order | 011 |
| The interactive information relevant (response that head, hand, health are touched etc.) with inductor | 100 |
| The command information relevant (touch screen instruction, content play, game class) with |
101 |
| The information processing relevant (personage/scene Recognition, virtual imaging, video recording/photography etc.) with camera video | 110 |
| Keep for other event (as to Long-distance Control relevant etc.) | 111 |
Fig. 2 is the schematic diagram that each signal processor and priority and status unit carry out data communication in the specific embodiment of the invention.Fig. 3 is the frame structure schematic diagram that each signal processor and priority and status unit carry out data communication in the specific embodiment of the invention.As shown in Figures 2 and 3, Internal Control Bus IBC is a synchro system.Transmission time is divided into isometric control frame; Each control frame is by constituting with the corresponding time period of signal processor number; Corresponding signal processor can transmit the Event Priority data of 8 bits in each time period.
When certain/when a plurality of signal processors obtain the information transmission requirements, address wire/control line state is changed into 1 by 0, showing has transfer of data.Then the precedence information of incident is passed to priority and status unit by the time period on the control frame of correspondence; The latter can receive the request and the precedence information of each signal processor simultaneously.After priority and status unit are made analysis, handle CPU for control and go to carry out the bearing reaction of can parallel processing or according to priority interrupting handling.
Fig. 4 is the logical schematic that a plurality of concurrent events are handled simultaneously or according to priority handled in the specific embodiment of the invention.As shown in Figure 4, after priority and status unit obtain above request by control bus, priority and status unit inside have a state table, when one or more incidents or request produced, this state table changed and makes control handle that the corresponding execution of CPU is corresponding to be changed and the action of leading intelligent robot.
Fig. 5 is that CPU carries out data communication by data/address bus and each processor frame structure schematic diagram is handled in control in the specific embodiment of the invention.As shown in Figure 5, because native system is a synchro system, the transmission time that data transmission bus is is divided into continuous Frame.The time span of each frame is the same, and is control line upper domination number N times according to frame, N=1, and 2, etc.
Each Frame be divided into again for 2 an X n time period (n=1,2 ... 9), each time period can be transmitted 8 Bit datas.Transmission mode is compound transmission mode: a preceding n time period is used for controlling and carrying by signal processor passing to the data that CPU is handled in control;
A back n time period is used for controlling and carrying by control handling the data that CPU passes to each signal processor.Concrete mode is described as follows.
Before first time period in n time period be used for which signal processor of control indication and have data to pass to control processing CPU for the control signaling time period, all the other eight time periods are fixedly given certain signal processor, be used for carrying by signal processor and pass to the data that CPU is handled in control: when control signaling certain bit in the time period was 1 such as the 3rd, the signal processor of corresponding address had data to pass to control the four time period to handle CPU.Back n first time period in the time period also is to be used for controlling indication control processing CPU the control signaling time period will pass to which signal processor to data, all the other eight time periods are fixedly given certain signal processor, be used for carrying by control and handle the data that CPU passes to each signal processor: when control signaling certain bit in the time period was 1 such as the 3rd, CPU is handled in control had data to pass to the signal processor of corresponding address the four time period.
As more than eight signal processor the time, can be with the time period of 2 or more control signaling time period and corresponding each Frame of lengthening.Such as 12 signal processors are arranged, we can constitute each Frame with 2*16 time period: two the conduct control signaling time periods in preceding 16 data segments, ensuing 12 time period fixed allocation are given each signal processor, also have two free time time period; Two conduct control signaling time periods in preceding 16 data segments, ensuing 12 time period fixed allocation are given corresponding signal processor, two remaining free time time period.
The advantage of above data transfer control system is no matter information/instruction is partly received/sensed to which of intelligent robot, can transmit a priority and status unit simultaneously, through after the judgment processing, can handle CPU by control and make a plurality of signal processors and react simultaneously and respond.Such as, certain guest makes intelligent robot come over.In moving process, intelligent robot just in time go to the owner that pre-sets in face of, to be ready getting around when moving ahead, owner is touching its head and saying: you go to the study.The signal processor of accepting voice is differentiated owner phonetic order is passed to priority and status unit, the signal processor that information that the signal processor of handling induced signal is simultaneously touched head and responsible image are handled in face of image also pass to priority and status unit.After latter's analysis and judgement, send the interruption guest and instruct the priority treatment owner to instruct to CPU.Control is handled CPU and can be made following response by corresponding simultaneously signal processor then:
The signal processor of-responsible voice is made voice response, as: owner, I have heard, carry out immediately;
The signal processor of-responsible expression is made the expression response, as: do a funny face etc.
-the signal processor that be responsible for to move begins to move to the study etc.
Fig. 6 is a plurality of flow charts that the request and the processing of incident take place simultaneously in the specific embodiment of the invention.As shown in Figure 6, a plurality of the request of incident takes place simultaneously and the flow process of processing may further comprise the steps:
Priority and status unit receive the application instruction;
Judge that intelligent robot whether can't execution work, if interrupt requests then keeps charging or other state of living in of can't working at present, if otherwise continue to carry out request;
Whether judge intelligent robot just in execution work, if then enter eventful priority processing flow process, if otherwise continue;
Judging whether intelligent robot receives simultaneously is no less than 2 application instructions, if then enter eventful priority processing flow process.If not, then send the result of application for execution instruction, and upgrade the state table of intelligent robot.
Fig. 7 is the flow chart of eventful priority processing in the specific embodiment of the invention.As shown in Figure 7, eventful priority processing flow process may further comprise the steps:
Judge whether intelligent robot can't work, if interrupt requests then keeps charging or other state of living in of can't working at present, if otherwise continue to carry out request;
Judge whether new events conflict with former incident, if less than conflicting then carry out former incident and new events simultaneously, if conflict is arranged then continue next step;
Judge new events whether than the priority height of former incident, if otherwise continue to carry out former incident, if then continue next step;
Judge that whether other new events can carry out simultaneously with the high new events of priority, if then carry out simultaneously, if otherwise the high new events of execution priority, and finish.
When robot finish the instruction task/and other state after, get back to " wait for instruction/idle " state automatically, other state zero clearing, and wait for new request.
The above; only for the preferable specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with the people of this technology in the disclosed technical scope of the present invention; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (10)
1, a kind of intelligent robot, comprise one or more signal processors, it is characterized in that also comprising priority and status unit, described priority and status unit are used to obtain, analyze and handle the status information of described intelligent robot and the priority and the status information of described signal processor.
2, a kind of intelligent robot according to claim 1, it is characterized in that described priority and status unit comprise eventful parallel processing and priority analysis processing module and state table module, described eventful parallel processing and priority analysis processing module are used to receive and analyze the priority and the status information of new events, and adjust described state table module.
3, a kind of as claim 1 or 2 arbitrary described intelligent robots, it is characterized in that also comprising control processing CPU element, data/address bus and control bus;
Described one or more signal processor is handled CPU element by data/address bus and described control and is connected, and is used to carry out data communication.
4, a kind of intelligent robot according to claim 3 is characterized in that:
Described control bus comprises robotary line, signal processor address wire and priority line;
Described robotary line is used to transmit the status information of described robot;
Described signal processor address wire is used to transmit the status information of described signal processor;
Described priority line is used to transmit the precedence information of the new events of described signal processor.
5, intelligent robot according to claim 3 is characterized in that described signal processor comprises one or more in the following processor: inductor signal processor, described vision/image-signal processor, the described sense of hearing/voice signal processor and described expression/action/mobile control signal processor.
6, a kind of How It Works of intelligent robot is characterized in that may further comprise the steps:
The signal processor of A, described intelligent robot obtains instruction or induced signal;
B, described signal processor detect the residing state of described intelligent robot by control bus;
C, according to the classification of described instruction or induced signal, send the application instruction to priority and status unit by described control bus;
After D, described priority and status unit are handled, result is sent to control handle CPU element;
E, described control are handled CPU element and are carried out data interaction by data/address bus and described signal processor.
7, the How It Works of a kind of intelligent robot according to claim 6 is characterized in that described step D further may further comprise the steps:
Described priority and status unit receive the application instruction;
Judge that described intelligent robot whether can't execution work, if interrupt requests then keeps charging or other state of living in of can't working at present, if otherwise continue to carry out request;
Whether judge described intelligent robot just in execution work, if then enter eventful priority processing flow process, if otherwise continue;
Judging whether described intelligent robot receives simultaneously is no less than 2 application instructions, if then enter eventful priority processing flow process; If not, then send the result of application for execution instruction, and upgrade the state table of described intelligent robot.
8, the How It Works of a kind of intelligent robot according to claim 7 is characterized in that described eventful priority processing flow process may further comprise the steps:
Judge whether described intelligent robot can't work, if interrupt requests then keeps charging or other state of living in of can't working at present, if otherwise continue to carry out request;
Judge whether new events conflict with former incident, if do not conflict then carry out former incident and new events simultaneously, if conflict then continue next step;
Judge new events whether than the priority height of former incident, if otherwise continue to carry out former incident, if then continue next step:
Judge that whether other new events can carry out simultaneously with the high new events of described priority, if then carry out simultaneously, if otherwise carry out the high new events of described priority, when robot finish the instruction task/and other state after, automatically get back to " waiting for instructing/idle " state, other state zero clearing, and wait for new request.
9, the How It Works of a kind of intelligent robot according to claim 7, it is characterized in that in the described step e, described control is handled CPU element and is adopted mode and the described signal processor of time-division to carry out data interaction by data/address bus, when described signal processor was in idle condition and exceeds Preset Time, described control was handled CPU and also can active cycle be sent the instruction that prestores in the holder and carry out to the signal processor of correspondence.
10, according to the How It Works of the described a kind of intelligent robot of the arbitrary claim of claim 6-9, it is characterized in that, among the described step B, described signal processor is determined the condition line bit by the electric current of the condition line in the control bus, thereby determines the residing state of described intelligent robot;
Described step C is further comprising the steps of:
Described signal processor sends to described priority and status unit by the signal processor address wire in the described control bus with its status information, and described signal processor adopts the mode of time-division will apply for that instruction sends to described priority and status unit by described control bus;
Described precedence information is determined according to event initiator classification and event request classification;
Described control bus and data/address bus are synchro systems.
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