CN106802582A - A kind of sensing data call method and robot for robot - Google Patents
A kind of sensing data call method and robot for robot Download PDFInfo
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- CN106802582A CN106802582A CN201710033135.1A CN201710033135A CN106802582A CN 106802582 A CN106802582 A CN 106802582A CN 201710033135 A CN201710033135 A CN 201710033135A CN 106802582 A CN106802582 A CN 106802582A
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention discloses a kind of sensing data call method and robot for robot.Methods described includes：Acquisition is multi-modal to interactively enter data；Parse it is described it is multi-modal interactively enter data, it is determined that the response multi-modal sensor multiple to be called interactively entered on the slave computer called needed for data；It is determined that the data call priority of multiple sensors to be called；Register address according to the multiple sensor to be called generates one or more data call instruction, wherein, the register address of sensor to be called described in data call priority identical is comprised in data call instruction described in same；Sequencing based on the data call priority exports the data call instruction.Method according to the invention it is possible to the occurrence of the instruction traffic volume during effectively reducing data call while the sensing data of the multiple different sensors of realization is called, the instruction conflict being prevented effectively from during data call and instruction accumulation.
Description
Technical field
The present invention relates to robot field, and in particular to a kind of sensing data call method and machine for robot
Device people.
Background technology
With continuing to develop for robot technology, the increasing of intelligent robot is applied to the daily production of the mankind
In life.The sensor of many difference in functionalitys is configured with order to realize numerous application functions, in robot system.In robot
During performing application function, it calls the data that different sensors are gathered according to specific application demand.
In the prior art, sensing data is called typically by the inquiry to corresponding sensing data address
Realize.Specifically, generate a corresponding data call for the sensing data that each needs is called instructing, the data are adjusted
With register address of the instruction comprising corresponding sensor.
With the continuous upgrading of robot hardware's function, the number of sensors/classification constructed in robot system constantly increases
It is many；Meanwhile, along with the constantly improve of robot function, the continuous increasing of the complexity of robot application of function implementation process
Plus so that the invocation pattern of sensing data also becomes to become increasingly complex.Under this trend, data call in the prior art refers to
Order becomes that current sensing data tune complicated and changeable cannot be adapted to the man-to-man simple invocation pattern of register address
Use demand.
The content of the invention
The invention provides a kind of sensing data call method for robot, methods described includes：
Acquisition is multi-modal to interactively enter data；
Parse it is described it is multi-modal interactively enter data, it is determined that response multi-modal the interactively entering call down needed for data
Sensor multiple to be called on the machine of position；
It is determined that the data call priority of multiple sensors to be called；
Register address according to the multiple sensor to be called generates one or more data call instruction, wherein,
The register address of sensor to be called is comprised in data call described in same and refers to described in data call priority identical
In order；
Sequencing based on the data call priority exports the data call instruction.
In one embodiment, it is determined that the data call priority of multiple sensor to be called, wherein：
It is determined that the response multi-modal application for interactively entering startup needed for data；
Operation demand according to the application determines the data call priority of multiple sensors to be called.
In one embodiment, methods described also includes：
It is determined that for the data renewal frequency of the sensor to be called；
Repeat to send the data call instruction to update the sensing data for getting based on the data renewal frequency.
In one embodiment, it is determined that for the data renewal frequency of the sensor to be called, wherein：
According to respond it is described it is multi-modal interactively enter data needed for start application execution demand
And/or
The data acquisition undated parameter of the sensor to be called determines the data renewal frequency of the sensor to be called.
In one embodiment, when non-setting sensor calls priority requirements in the application execution demand, institute is given tacit consent to
There is the data call priority of sensor identical.
The invention allows for a kind of intelligent robot, the robot includes：
Input acquisition module, it is configured to, and acquisition is multi-modal to interactively enter data；
Sensing data calls confirmation module, its be configured to parsing it is described it is multi-modal interactively enter data, it is determined that response institute
State the sensor multiple to be called on the multi-modal slave computer for interactively entering and being called needed for data；
Priority confirms module, its data call priority for being configured to determine multiple sensors to be called；
Call instruction generation module, it is configured to generate one according to the register address of the multiple sensor to be called
Or a plurality of data call instruction, wherein, the register address of sensor to be called is wrapped described in data call priority identical
It is contained in data call instruction described in same；
Call instruction output module, the sequencing that it is configured to the data call priority exports the data
Call instruction.
In one embodiment, the priority confirms that module is configured to：
It is determined that the response multi-modal application for interactively entering startup needed for data；
Operation demand according to the application determines the data call priority of multiple sensors to be called.
In one embodiment, the robot is also included：
Sensing data renewal frequency determining module, it is configured to determine updated for the data of the sensor to be called
Frequency；
Wherein,
The call instruction output module is additionally configured to repeat to send the data call based on the data renewal frequency
Instruct to update the sensing data for getting.
In one embodiment, the sensing data renewal frequency determining module is configured to：
According to respond it is described it is multi-modal interactively enter data needed for start application execution demand
And/or
The data acquisition undated parameter of the sensor to be called determines the data renewal frequency of the sensor to be called.
In one embodiment, the priority confirms that module is additionally configured to：
When non-setting sensor calls priority requirements in the application execution demand, the data of all the sensors are given tacit consent to
Call priority identical.
Method according to the invention it is possible to effectively be dropped while the sensing data for realizing multiple different sensors is called
Instruction traffic volume during low data call, the instruction conflict being prevented effectively from during data call and instruction accumulation situation
Generation, so as to maintain the operation stability of robot system, improve the operational efficiency of robot system.
Further feature of the invention or advantage will be illustrated in the following description.Also, Partial Feature of the invention or
Advantage will be become apparent by specification, or be appreciated that by implementing the present invention.The purpose of the present invention and part
Advantage can be realized or obtained by specifically noted step in specification, claims and accompanying drawing.
Brief description of the drawings
Accompanying drawing is used for providing a further understanding of the present invention, and constitutes a part for specification, with reality of the invention
Apply example to be provided commonly for explaining the present invention, be not construed as limiting the invention.In the accompanying drawings：
Fig. 1, Fig. 3 and Fig. 4 are method flow diagrams according to embodiments of the present invention；
Fig. 2 is the partial process view of method according to embodiments of the present invention；
Fig. 5 and Fig. 6 are robot system architecture's sketches according to embodiments of the present invention.
Specific embodiment
Describe embodiments of the present invention in detail below with reference to drawings and Examples, implementation personnel of the invention whereby
Can fully understand how application technology means solve technical problem for the present invention, and reach technique effect implementation process and according to
The present invention is embodied according to above-mentioned implementation process.If it should be noted that do not constitute conflict, each embodiment in the present invention
And each feature in each embodiment can be combined with each other, the technical scheme for being formed protection scope of the present invention it
It is interior.
With continuing to develop for robot technology, intelligent robot is more and more applied to the daily production life of the mankind
In work.The sensor of many difference in functionalitys is configured with order to realize numerous application functions, in robot system.Held in robot
During row application function, it calls the data that different sensors are gathered according to specific application demand.
In the prior art, sensing data is called typically by the inquiry to corresponding sensing data address
Realize.Specifically, generate a corresponding data call for the sensing data that each needs is called instructing, the data are adjusted
With register address of the instruction comprising corresponding sensor.
With the continuous upgrading of robot hardware's function, the number of sensors/classification constructed in robot system constantly increases
It is many；Meanwhile, along with the constantly improve of robot function, the continuous increasing of the complexity of robot application of function implementation process
Plus so that the invocation pattern of sensing data also becomes to become increasingly complex.Under this trend, data call in the prior art refers to
Order becomes that current sensing data tune complicated and changeable cannot be adapted to the man-to-man simple invocation pattern of register address
Use demand.
For above-mentioned problems of the prior art, the present invention proposes a kind of sensing data for robot and adjusts
Use method.In one embodiment in accordance with the present invention, sensor is built into the slave computer of robot system.In slave computer also
Register is configured with, each sensor is assigned its corresponding register address values.The data that sensor is collected are stored
In the register corresponding to its corresponding register address.The process of sensing data is called, is to be read from register
The process of sensing data.Specifically, being instructed by host computer generation data call, slave computer is indicated to read the register ground specified
The data preserved on location.
Further, in an embodiment of the present invention, it is not using of the prior art when sensing data is called
Man-to-man simple invocation pattern, but use one-to-many invocation pattern.Multiple is carried out by a call instruction simultaneously
The query calls of sensing data.So, can not only greatly reduce the sensor call instruction for needing to send, reduce at data
Reason, the hardware pressure of transmission；And can need to avoid multiple sensor numbers when calling inquiry multiple sensing data at the same time
The instruction brought according to call instruction generation simultaneously, transmission and execution generates, sends and perform confusion.
In order to realize by a call instruction while carry out the query calls of multiple sensing datas, specifically, one
In embodiment, by the register address of multiple sensors to be called, (data that sensor is defaulted as being collected are stored in it
In the corresponding register of corresponding register address) it is included in same data call instruction, performing data call instruction
When, comprising register address corresponding to registers storage data directly read and send so that complete sensing
Device data call behavior.
Further, in actual motion environment, because the data-handling capacity of robot system is fixed, while adopting
The sensing data for collecting treatment is excessive, will certainly cause the feelings that pending data is piled up, system processing speed reaction speed is slack-off
Condition occurs.That is, on the premise of the trouble-free operation of robot system is ensured, while the sensing data for gathering and processing
Amount have the upper limit.Also, it is further, in some application scenarios, can simultaneously there are multiple different application processes, respectively should
Demand is called to there may be difference sensing data with process.
Therefore, for above-mentioned situation, in one embodiment, when multiple when the calling demand of sensing data of presence simultaneously,
Robot determines the data call priority of multiple sensors to be called first；Then according to the address of multiple sensors to be called
One or more data call instruction is generated, wherein, the register address of data call priority identical sensor to be called
It is comprised in same data call instruction.
Next the detailed process of method according to embodiments of the present invention is described in detail based on accompanying drawing, in the flow chart of accompanying drawing
The step of showing can perform in comprising the such as one group computer system of computer executable instructions.Although in flow charts
The logical order of each step is shown, but in some cases, can be performing shown different from order herein or retouch
The step of stating.
As shown in figure 1, in one embodiment, the host computer of robot obtains multi-modal interactively enter data (step first
S100)；Then parse it is multi-modal interactively enter data (step S110), so that it is determined that response is multi-modal interactively enter data needed for
Sensor (step S120) multiple to be called on the slave computer for calling.
It is next determined that the data call priority (step of the sensor multiple to be called determined in step S120
S130)；Register ground of the priority based on step S130 determinations according to the sensor multiple to be called determined in step S120
Location generates one or more data call instruction, wherein, the register ground of data call priority identical sensor to be called
Location is comprised in same data call instruction (step S140)；Finally, the sequencing based on data call priority is defeated
Go out data call instruction (step S150).
By taking a specific application scenarios as an example, it is assumed that in a robot system, slave computer includes C1, C2, C3, C4, C5
And six sensors of C6, in corresponding register, the storage address of sensing data is D1, D2, D 3, D 4, D 5 and
D 6.In an interaction, the host computer acquisition of robot system is multi-modal to interactively enter data, judges that response is worked as after parsing
The preceding multi-modal data that interactively enter need to gather six sensing datas of sensor of C1, C2, C3, C4, C5 and C6, and
The data call priority for further determining that six sensors is：C1, C3 and C6 are the first priority；C2 and C4 is second
Priority；C5 is third priority (first, second and third priority reduce successively).
Next, the different data call priority of correspondence three generates three data call instruction Z1, Z2 and Z3, its
In：Z1 includes D1, D3 and D6；Z2 includes D2 and D4；Z3 includes D5.Finally, it is sequentially output according to the order of Z1, Z2, Z3
Tri- data call instructions of Z1, Z2 and Z3.
Further, in one embodiment, (step S150), host computer in last data call instruction output step
After one instruction of data call priority of output, the response of slave computer is waited, it is waiting to receive complete correct response (completely
Sensing data) and the data call that completes to be carried out again corresponding to next data call priority after required data processing refer to
The output of order.
For example, in application scenarios assumed above, host computer output data call instruction Z1 first treats that slave computer is responded
The sensing data for receiving is processed after the sensing data preserved on register address D1, D3 and D6, is completed
Output data call instruction Z2 again after treatment.
Further, in one embodiment, robot call and in execution system load different application come realize to work as
The preceding multi-modal response for interactively entering data.Specifically, the host computer of robot is defeated according to current multi-modal interaction is responded
Enter the application of startup needed for data to determine to need the sensor to be called for calling (that is, it is determined that the application of required startup needs to adjust
Which could be smoothly started and carried out with sensing data).For example, the current multi-modal data that interactively enter of response need to start
Using A, startup needs to call the sensing data of sensor C1, C2 and C3 using A, then is assured that and current waits to adjust
It is C1, C2 and C3 with sensor.
Further, in one embodiment, it is determined that multiple sensors to be called data call priority when, according to institute
The operation demand of the application that need to start determines the data call priority of multiple sensors to be called.For example, response is current more
Mode interactively enters data needs startup application A, and startup needs to call the sensing of sensor C1, C2, C3, C4 and C5 using A
Device data, then be assured that current sensor to be called is C1, C2, C3, C4 and C5.Further, correspondence application
A, it is necessary to data that are preferential and obtaining sensor C1, C2, C3 simultaneously, sensor C4, C5 are needed in sensor in its operation demand
Obtained after the data acquisition of C1, C2, C3.Accordingly, it is determined that sensor C1, C2, C3 are the first data call priority, sensor
C4, C5 are the second data call priority.
Further, in one embodiment, when non-setting sensor calls priority requirements in application execution demand, write from memory
That recognizes all the sensors calls priority identical.That is, in the application scenarios of above-mentioned hypothesis, using in the operation demand of A not
Restriction needs preferentially to obtain the sensing data of which sensor, it is thus determined that sensor C1, C2, C3, C4 and C5 are same
One data call priority.Next one data call comprising register address D1, D2, D 3, D 4 and D 5 of generation refers to
Order.
Further, in some application scenarios, responding the current multi-modal data that interactively enter needs to start more than one
Individual application, then, robot determines the sensor to be called for needing to call according to the application of all required startups.For example, ringing
The multi-modal data that interactively enter that should be preceding need to start using A and apply B, and startup needs to call sensor C1, C2 using A
And the sensing data of C3, startup needs to call the sensing data of sensor C4, C5 and C6 using B, then just can be with
It is determined that current sensor to be called is C1, C2, C3, C4, C5 and C6.It is corresponding, ultimately produce one or more data tune
With instruction also just comprising register address D1, D2, D 3, D 4, D 5 and D6.
Further, in one embodiment, it is determined that multiple sensors to be called data call priority when, according to it
The operation demand of the different application for being belonged to determines the data call priority of multiple sensors to be called.Herein, not only
With reference to demand priority is called sequentially to different sensors data in the operation demand of same application, it is also contemplated that different applications
Operation demand meet priority (needs preferentially meet which application operation demand).
For example, the current multi-modal data that interactively enter of response need to start using A and apply B, operation application A needs
The sensing data of sensor C1, C2 and C3 is called, operation needs to call the sensor of sensor C4, C5 and C6 using B
Data, then be assured that current sensor to be called is C1, C2, C3, C4, C5 and C6.Further, A is being applied
And in the operation demand of application B, preferential the calling not to sensing data is defined, but, in current interactive field
, it is necessary to preferential meet using the operation demand of B in scape, accordingly, it is determined that sensor C3, C4, C5 (sensor corresponding to application B)
It is the first data call priority, sensor C1, C2 and C3 are the second data call priority.
Further, in one embodiment, when the execution demand of different applications has the restriction of preferential satisfaction,
Priority is called according only to what the application execution demand of application determined sensing data.
Further, in some application scenarios, different applications has identical (or part identical) sensor number
According to demand.For example, operation needs to call the sensing data of sensor C1, C2 and C3 using A, operation needs to call using B
The sensing data of sensor C1, C4, C5 and C6.In this case, when data call instruction is generated, only in a number
According to the corresponding register address of sensor repeated comprising demand in call instruction, without in other data calls instruction
Duplicate packages contain the register address, it is preferred that when two applications when calling priority different, are such as applied to same sensor
Sensor C1 calls priority for the first data call priority in A, and is the using the priority of calling of sensor C1 in B
Two data call priority, can be all in the first data call priority data call instruction in it is corresponding comprising sensor C1
Register address.The data call behavior of repetition can be thus reduced, and then reduces data processing amount.
By taking application scenarios assumed above as an example, respond it is current it is multi-modal interactively enter data need to start application A with
And B is applied, operation needs to call the sensing data of sensor C1, C2 and C3 using A, and operation needs to call sensing using B
The sensing data of device C1, C4, C5 and C6., it is necessary to the preferential operation demand for meeting application B in current interaction scenarios；
Also, in the operation demand of application A and application B, preferential the calling not to sensing data is defined.Therefore, most
Throughout one's life into two data call instructions of Z1 and Z2, wherein：Z1 includes register address D1, D 4, D 5 and D6；Z2 is included and posted
Storage address D 2 and D3；The corresponding data call priority of Z1 is higher than Z2.
Summary implementation procedure, as shown in Fig. 2 the host computer of robot obtains multi-modal friendship first in one embodiment
Mutual input data (step S200)；Then parse it is multi-modal interactively enter data (step S210), so that it is determined that response it is multi-modal
Interactively enter the application (step S220) started needed for data；Next determine to start on the slave computer called needed for the application
Multiple sensors (step S230) to be called；And according to the operation demand of application determine to determine in step S230 it is multiple to be called
Data call priority (step S240) of sensor.
Next, the priority based on step S240 determinations is according to the sensor multiple to be called determined in step S230
Register address generates one or more data call instruction, wherein, data call priority identical sensor to be called
Register address is comprised in same data call instruction (step S250)；Finally, the elder generation based on data call priority
Sequential output data call instruction (step S260) afterwards.
Further, in many application scenarios, the sensing data accessed by sensor is an amount for change,
Using start perform during, it is necessary to obtaining newest sensing data (or needs the change feelings of clear and definite sensing data
Condition).This is allowed for, and the behavior of calling of sensing data is not a disposable operation behavior, but one repeated
Operation behavior.
Therefore, in one embodiment, the host computer of robot determines to update frequency for the data of sensor to be called first
Rate；It is then based on data renewal frequency and repeats to send data call instruction to update the sensing data for getting.
Specifically, in one embodiment, the host computer of robot current multi-modal interactively enters data institute according to responding
The execution demand of the application that need to start determines the data renewal frequency for sensor to be called.For example, response is current more
Mode interactively enters data needs startup application A, and operation needs to call the sensing data of sensor C1, C2 and C3 using A.
In the operation demand of application A, the data renewal frequency for limiting the sensor of its normal operation is 2 seconds/time, then robot
Host computer is accomplished by repetition in every 2 seconds and exports data call instruction until the end of run of application A.
In another embodiment, the host computer of robot determines to treat according to the data acquisition undated parameter of sensor to be called
Call the data renewal frequency of sensor.For example, the current multi-modal data that interactively enter of response need startup application A, run
Need to call the sensing data of sensor C1, C2 and C3 using A.Sensor C1, C2 and C3 are set to carry out for every 2 seconds
The collection of primary transducer data updates (data acquisition undated parameter is set as 2 seconds/time), then the host computer of robot is just needed
Repetition in every 2 seconds is wanted to export data call instruction (to get newest sensing data in time) until the fortune of application A
Row terminates.
As shown in figure 3, in one embodiment, carrying out during sensing data calls, the upper prow of robot
First determine data renewal frequency (step S300) of sensor to be called, also, in output data call instruction (step S310)
After carry out timing (step S320).In timing course, the data renewal frequency determined according to step S300 judges whether to reach
Data update timing node (step S330), if reaching data updates timing node, output data call instruction (is walked again
Rapid S310) and reclocking (step S320).
Judge that current application (needs to carry out what sensing data was called if not reaching data and updating timing node
Using) whether perform completion (whether terminating operation) (step S340).If performing completion, sensing data call operation
Accordingly terminate (step S350).Continue timing (step S320) if being not carried out completing, and repeat whether reach number
According to the judgement (step S330) for updating timing node.
Further, in one embodiment, the host computer of robot uses the execution demand and sensor of integrated application
The mode of data acquisition undated parameter determine the data renewal frequency of sensor.
Further, in some application scenarios, the execution demand/data acquisition of the sensor of different application/different
Undated parameter is different, therefore the data renewal frequency of corresponding sensor is also just different, that is to say, that in each data more
The new timing node sensing data to be updated is also just different.In order to avoid the appearance in sensing data invoked procedure need not
Want sensing data call operation (for example, current time node need not more new sensor C1 sensing data, but but
Output the data call instruction comprising register address D1), in one embodiment, in the process of generation data call instruction
In, the data renewal frequency of the sensor corresponding to register address included in same data call instruction is identical.
For example, the current multi-modal data that interactively enter of response need startup application A, operation needs to call sensing using A
The sensing data of device C1, C2, C3, C4 and C5., it is necessary to preferentially obtain the sensing of C1, C2, C3 in application A operation demands
Device data, then obtain the sensing data of C4 and C5 again.Also, sensor C1 and C2 are set to carry out one in every 1 second
The collection of secondary sensing data updates (data acquisition undated parameter is set as 1 second/time), and sensor C3, C4 and C5 are set
It is that every collection for carrying out primary transducer data for 2 seconds updates (data acquisition undated parameter is set as 2 seconds/time).
The host computer of so robot ultimately generates data call instruction Z1, Z2 and Z3, wherein：
Z1 includes register address D1 and D2；
Z2 includes register address D3；
Z3 includes register address D4 and D5
The corresponding data call priority of Z1 and Z2 is identical, and the corresponding data call priority of Z1 and Z2 is higher than Z3.
In application starts implementation procedure, the host computer of initial robot exports Z1 and Z2 first, and (its output is successively suitable
Sequence is any), then export Z3；Then the host computer of 1 Miao Hou robots exports Z1 again (Z2 and Z3 are not exported)；After one second
The host computer of robot exports Z1 and Z2 (its output sequencing is any) first afterwards, then exports Z3.Repeat above-mentioned number
According to call instruction output procedure until applying A end of runs.
To sum up, as shown in figure 4, in one embodiment, the host computer of robot obtains multi-modal first in one embodiment
Interactively enter data (step S400)；Then parse it is multi-modal interactively enter data (step S410), so that it is determined that response multimode
State interactively enters the application (step S420) started needed for data；Next determine to start on the slave computer called needed for the application
Sensor (step S430) multiple to be called；It is multiple to be called that operation demand according to application determines to determine in step S430
Data call priority (step S440) of sensor；And determine the data renewal frequency (step of sensor to be called
S450)。
Next, the data of the priority determined based on step S440 and the sensor to be called of step S450 determinations are more
New frequency generates one or more data call according to the register address of the sensor multiple to be called determined in step S430
Instruction, wherein, the register address of data call priority and data renewal frequency identical sensor to be called by comprising
In same data call instruction (step S460)；Finally, output data is repeated based on the data renewal frequency multicycle to call
Instruction, in each output cycle, the priority of the data call priority instructed according to the data call for being subordinated to the cycle is suitable
Sequence is sequentially output data call instruction (step S470).
To sum up, method according to the invention it is possible to while the sensing data for realizing multiple different sensors is called
Effectively reduce the instruction traffic volume during data call, the instruction conflict being prevented effectively from during data call and instruction heap
The occurrence of product, so as to maintain the operation stability of robot system, improve the operational efficiency of robot system.
Based on the method for the present invention, the invention allows for a kind of intelligent robot.In one embodiment, robot bag
Include：
Input acquisition module, it is configured to, and acquisition is multi-modal to interactively enter data；
Sensing data calls confirmation module, and it is configured to, and parsing is multi-modal to interactively enter data, it is determined that response is multi-modal
Interactively enter the sensor multiple to be called on the slave computer called needed for data；
Priority confirms module, its data call priority for being configured to determine multiple sensors to be called；
Call instruction generation module, it is configured to generate one or many according to the register address of multiple sensors to be called
Data call instruction, wherein, the register address of data call priority identical sensor to be called is comprised in same
In data call instruction described in bar；
Call instruction output module, its sequencing output data for being configured to data call priority calls finger
Order.
Specifically, as shown in figure 5, robot include host computer 501 and slave computer 502, wherein, structure on slave computer 502
Make sensor and preserve the register of sensing data, one register address of each sensor correspondence (adopt by the sensor
The sensing data of collection is stored in the corresponding register of register address).Host computer 501 includes input acquisition module 500, biography
Sensor data call confirms that module 510, priority confirms the output of module 520, call instruction generation module 530 and call instruction
Module 540.
Further, in one embodiment, priority confirms that module is configured to：
It is determined that response is multi-modal to interactively enter the application started needed for data；
The operation demand of the application according to required startup determines the data call priority of multiple sensors to be called.
Further, in one embodiment, priority confirms that module is additionally configured to：
When non-setting sensor calls priority requirements in the execution demand of application, the data for giving tacit consent to all the sensors are adjusted
It is identical with priority.
Further, in one embodiment, robot also includes sensing data renewal frequency determining module, and it is configured to
It is determined that for the data renewal frequency of sensor to be called；Corresponding, call instruction output module is additionally configured to based on data more
New frequency repeats to send data call instruction to update the sensing data for getting.
As shown in fig. 6, in one embodiment, the host computer 601 of robot also determines comprising sensing data renewal frequency
Module 650.
Input acquisition module 600 is configured to obtain and multi-modal interactively enters data；Sensing data calls confirmation module 610
It is configured to that parsing is multi-modal to interactively enter data, it is determined that response multi-modal is interactively entered on the slave computer 602 called needed for data
Sensor multiple to be called；Priority confirms that module 620 is configured to determine that the data call of multiple sensors to be called is preferential
Level；Call instruction generation module 630 is configured to be counted according to the register address of multiple sensors to be called generation one or more
According to call instruction, wherein, the register address of data call priority identical sensor to be called is comprised in same institute
State data call instruction in；Sensing data renewal frequency determining module 650 is configured to determine the number for sensor to be called
According to renewal frequency；Call instruction output module 640 is configured to the repetition transmission data call instruction of data renewal frequency and arrives down
Position machine 602, also, in each transmission cycle, the sequencing output data call instruction based on data call priority.
Further, in one embodiment, sensing data renewal frequency determining module is configured to：
According to respond it is multi-modal interactively enter data needed for start application execution demand
And/or
The data acquisition undated parameter of sensor to be called determines the data renewal frequency of sensor to be called.
While it is disclosed that implementation method as above, but described content is only to facilitate understanding the present invention and adopting
Implementation method, is not limited to the present invention.Method of the present invention can also have other various embodiments.Without departing substantially from
In the case of essence of the present invention, those of ordinary skill in the art work as can make various corresponding changes or change according to the present invention
Shape, but these corresponding changes or deformation should all belong to scope of the claims of the invention.
Claims (10)
1. a kind of sensing data call method for robot, it is characterised in that methods described includes：
Acquisition is multi-modal to interactively enter data；
Parse it is described it is multi-modal interactively enter data, it is determined that response is described multi-modal to interactively enter the slave computer called needed for data
On sensor multiple to be called；
It is determined that the data call priority of multiple sensors to be called；
Register address according to the multiple sensor to be called generates one or more data call instruction, wherein, data
The register address of sensor to be called described in priority identical is called to be comprised in data call instruction described in same；
Sequencing based on the data call priority exports the data call instruction.
2. method according to claim 1, it is characterised in that it is determined that the data call of multiple sensors to be called is excellent
First level, wherein：
It is determined that the response multi-modal application for interactively entering startup needed for data；
Operation demand according to the application determines the data call priority of multiple sensors to be called.
3. method according to claim 1, it is characterised in that methods described also includes：
It is determined that for the data renewal frequency of the sensor to be called；
Repeat to send the data call instruction to update the sensing data for getting based on the data renewal frequency.
4. method according to claim 3, it is characterised in that it is determined that updating frequency for the data of the sensor to be called
Rate, wherein：
According to respond it is described it is multi-modal interactively enter data needed for start application execution demand
And/or
The data acquisition undated parameter of the sensor to be called determines the data renewal frequency of the sensor to be called.
5. method according to claim 2, it is characterised in that when non-setting sensor is called in the application execution demand
During priority requirements, the data call priority for giving tacit consent to all the sensors is identical.
6. a kind of intelligent robot, it is characterised in that the robot includes：
Input acquisition module, it is configured to, and acquisition is multi-modal to interactively enter data；
Sensing data calls confirmation module, its be configured to parsing it is described it is multi-modal interactively enter data, it is determined that response it is described many
Mode interactively enters the sensor multiple to be called on the slave computer called needed for data；
Priority confirms module, its data call priority for being configured to determine multiple sensors to be called；
Call instruction generation module, it is configured to generate one or many according to the register address of the multiple sensor to be called
Data call instruction, wherein, the register address of sensor to be called is comprised in described in data call priority identical
In data call instruction described in same；
Call instruction output module, the sequencing that it is configured to the data call priority exports the data call
Instruction.
7. robot according to claim 6, it is characterised in that the priority confirms that module is configured to：
It is determined that the response multi-modal application for interactively entering startup needed for data；
Operation demand according to the application determines the data call priority of multiple sensors to be called.
8. robot according to claim 6, it is characterised in that the robot is also included：
Sensing data renewal frequency determining module, it is configured to determine update frequency for the data of the sensor to be called
Rate；
Wherein,
The call instruction output module is additionally configured to repeat to send the data call instruction based on the data renewal frequency
To update the sensing data for getting.
9. robot according to claim 8, it is characterised in that the sensing data renewal frequency determining module configuration
For：
According to respond it is described it is multi-modal interactively enter data needed for start application execution demand
And/or
The data acquisition undated parameter of the sensor to be called determines the data renewal frequency of the sensor to be called.
10. robot according to claim 7, it is characterised in that the priority confirms that module is additionally configured to：
When non-setting sensor calls priority requirements in the application execution demand, the data call of all the sensors is given tacit consent to
Priority is identical.
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