CN112686565A - Information processing device and method and robot - Google Patents
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Abstract
The disclosure relates to an information processing device, an information processing method and a robot, and relates to the technical field of computers. The processing device includes: the service function equipment is used for sending a first task request or a second task request according to the length of the response time required by the task to be processed, wherein the response time required by the first task request is longer than that required by the second task request; a first processor for receiving and processing a first task request; and the second processor is used for receiving and processing the second task request and sending a processing result of the second task request to the first processor.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to an information processing apparatus, an information processing method, a robot, and a non-volatile computer-readable storage medium.
Background
Artificial intelligence technology has accelerated the development of the robotic industry in recent years. The service robot is applied to hotels, shopping malls, hospitals, bank halls, government halls and the like to provide services such as guidance, question answering, business handling and the like.
The service type robot master controller generally needs to process various tasks such as voice interaction, display interaction, task scheduling, path planning, sensor data response and the like.
In the related art, the service type robot operates the Linux operating system in multiple ways, and processes various tasks through a unified processor.
Disclosure of Invention
The inventors of the present disclosure found that the following problems exist in the above-described related art: under the condition that the current processor has high occupancy rate and the current task process occupies more resources, the low time delay requirement of the task cannot be ensured, so that the information processing effect is poor.
In view of this, the present disclosure provides an information processing technical solution, which can improve an information processing effect.
According to some embodiments of the present disclosure, there is provided an information processing apparatus including: the service function equipment is used for sending a first task request or a second task request according to the length of the response time required by the task to be processed, wherein the response time required by the first task request is longer than that required by the second task request; a first processor for receiving and processing a first task request; and the second processor is used for receiving and processing the second task request and sending a processing result of the second task request to the first processor.
In some embodiments, the service function device receives related information of the task to be processed, and determines the length of the response time required by the task to be processed according to at least one of the type of the related information or the size of the corresponding data value.
In some embodiments, the first processor interrupts the current worker thread in response to the second processor processing the second task request; and after the second processor finishes processing the second task request, informing the first processor to recover the current working thread.
In some embodiments, the service function device configures an identifier in the task request according to the length of the response time, so as to indicate that the task request is the first task request or the second task request.
In some embodiments, the task request further comprises priority information for indicating a processing priority of the second task request in case the task request is the second task request.
In some embodiments, the service function device determines that the response time is shorter than a threshold value and generates a second task request when the relevant information of the task to be processed is at least one of braking type information and abnormal operation type information.
In some embodiments, the service function device includes a bottom layer signal processing module, and the braking type information includes at least one of information that an obstacle is located in a braking area, information that a cliff exists, and safety edge triggering information.
In some embodiments, the service function device includes a power control module, the braking type information includes emergency stop starting information, and the operation abnormality type information is power abnormality information including at least one of battery over-temperature information and battery over-voltage.
In some embodiments, the service function device includes an interaction module, and the braking class information includes at least one of touch braking information, voice braking information, and power-off information.
In some embodiments, the service function device includes a navigation module, the braking type information includes information that the obstacle is located in the braking area, and the operation abnormality type information includes navigation abnormality information.
In some embodiments, the service function device includes a power module, and the operation abnormality information is motor abnormality information including at least one of motor stalling information and motor stalling information.
According to further embodiments of the present disclosure, there is provided an information processing method including: receiving a first task request or a second task request of a task to be processed, which is sent by business function equipment, wherein the response time required by the first task request is longer than that of the second task request; processing the first task request by using the first processor under the condition that the first task request is sent by the business function equipment; and under the condition that the business function equipment sends the second task request, processing the second task request by using the second processor, and sending a processing result of the second task request to the first processor.
In some embodiments, the length of the response time is determined according to at least one of a type of the related information of the task to be processed or a size of the corresponding data value.
In some embodiments, processing the second task request with the second processor comprises: interrupting a current work thread with the first processor in response to the second processor processing the second task request; and after the second processor finishes processing the second task request, informing the first processor to recover the current working thread.
In some embodiments, the processing method further comprises: and determining the task request as a first task request or a second task request according to an identifier in the task request sent by the service function equipment, wherein the identifier is configured by the service function equipment according to the length of response time.
In some embodiments, processing the second task request with the second processor comprises: under the condition that the task request sent by the service function equipment is a second task request, determining the processing priority of the second task request according to the priority information in the task request; the second task request is processed according to the processing priority.
In some embodiments, receiving the first task request or the second task request of the task to be processed, which is sent by the business function device, includes: and receiving a second task request sent by the service function equipment under the condition that the relevant information of the task to be processed is at least one of braking type information and running abnormity type information.
According to further embodiments of the present disclosure, there is provided a robot including the information processing apparatus in any of the above embodiments.
According to still further embodiments of the present disclosure, there is provided an apparatus for processing information, including: a memory; and a processor coupled to the memory, the processor configured to perform the method of processing information in any of the above embodiments based on instructions stored in the memory device.
According to still further embodiments of the present disclosure, there is provided a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of processing information in any of the above embodiments.
In the above embodiment, two processors are provided for processing the urgent task request and the normal task request, respectively. Therefore, by classifying task requests and dividing functions of the processors, priority processing and low-delay response of emergency events can be guaranteed, and therefore information processing effect is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.
The present disclosure can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:
FIG. 1 illustrates a block diagram of some embodiments of an apparatus for processing information of the present disclosure;
FIG. 2 shows a schematic diagram of some embodiments of a device for processing information of the present disclosure;
FIG. 3 shows a schematic view of further embodiments of an apparatus for processing information according to the present disclosure;
FIG. 4 illustrates a flow diagram of some embodiments of a method of processing information of the present disclosure;
FIG. 5 shows a block diagram of further embodiments of an apparatus for processing information of the present disclosure;
FIG. 6 shows a block diagram of yet further embodiments of an apparatus for processing information of the present disclosure;
fig. 7 illustrates a block diagram of some embodiments of a robot of the present disclosure.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
As mentioned above, the robot needs to handle different tasks, which require different response times. For example, emergency stop events, collision events, cliff events detected by a drop sensor, etc. have high requirements on the response speed of the processor, and need to be processed by the processor preferentially; voice requests, display requests, task scheduling requests are relatively low priority with respect to security related events.
However, with a unified processor processing different tasks, the response time of the system to a current task request is affected by the current processor occupancy and the processes the current processor is running. When the processor occupancy rate is high and the current task process occupies more resources, the response time of the re-triggered task request is prolonged.
Thus, prioritization and low latency requirements for safety events that may result in a need for prioritization (e.g., emergency stop events, collision events, detection of cliff events by a fall sensor, etc.) cannot be guaranteed.
In view of the above technical problem, the present disclosure classifies an internal message event into a general event and an emergency event, which are received and responded to by a first processor and a second processor mounted on a communication bus, respectively. That is, the first processor receives and responds to a general event, and the second processor receives and responds to an emergency event and reports the processing result to the first processor. For example, the technical solution of the present disclosure can be realized by the following embodiments.
Fig. 1 shows a block diagram of some embodiments of an apparatus for processing information of the present disclosure.
As shown in fig. 1, the information processing apparatus 1 includes a service function device 11, a first processor 12, and a second processor 13.
The service function device 11 sends the first task request or the second task request according to the length of the response time required by the task to be processed. The first task request requires a response time that is longer than the response time of the second task request.
In some embodiments, the service function device 11 may include an underlying signal processing module, a power control module, a power module, a display interaction module, a voice interaction module, a navigation module, and the like. Different business function devices can determine whether the task to be processed is an emergency task according to the received related information. For example, the service function device and the first processor and the second processor may be configured by the embodiment in fig. 2.
Fig. 2 shows a schematic diagram of some embodiments of an apparatus for processing information of the present disclosure.
As shown in fig. 2, each service function device is connected to the first processor and the second processor in the processor module through the CAN bus. The first processor and the second processor may interact with the CAN bus via ethernet.
In some embodiments, the business function device may include an underlying signal processing module, a power control module, a power module, a processor, a display interaction module, a voice interaction module, a navigation module, and/or the like. Different service function devices may control different sensors and devices of the robot.
For example, the sensors included in the robot include an ultrasonic module, a safety edge, a cliff detection module, and an indicator light. The robot includes a display screen for displaying pictures and images, a microphone for voice recognition and audio playback, and a sound system. The power module and the navigation module of the robot can automatically navigate and plan the path.
For example, the bottom signal processing module may control an ultrasonic module, a safety edge touching module, a cliff detection module, an indicator light control module, and the like.
For example, the power module provides power and power control for the robotic system. The power module can be communicated with the battery and is externally connected with an emergency stop button.
For example, the power module can provide power for the robot to move the robot back and forth and left and right. The power module can be connected with the motor driver and the encoder.
For example, the display interaction module controls the content display of the display screen; the voice interaction module can perform voice communication with a user.
In some embodiments, the service function device 11 receives the relevant information of the task to be processed, and determines the length of the response time required by the task to be processed according to at least one of the type of the relevant information or the size of the corresponding data value.
For example, a task to be processed, for which a required response time is shorter than or equal to a threshold value, is a normal task, and a first task request is sent; and sending a second task request when the task to be processed with the required response time longer than the threshold value is an emergency task.
In some embodiments, the length of the response time required by the task to be processed is determined according to the type of the relevant information. For example, when the information related to the task to be processed is at least one of braking type information and abnormal operation type information, the service function device 11 determines that the response time is shorter than the threshold value, and generates the second task request.
In the case that the service function device 11 includes a bottom layer signal processing module, the braking class information includes at least one of information that an obstacle is located in a braking area, information that a cliff exists, and safety edge touching trigger information.
Under the condition that the service function device 11 includes the power control module, the braking information includes emergency stop starting information, and the operation abnormality information is power abnormality information including at least one of battery over-temperature information and battery overvoltage information.
In the case that the service function device 11 includes an interactive module, the braking class information includes at least one of touch braking information, voice braking information, and shutdown information.
In the case that the service function device 11 includes a navigation module, the braking type information includes information that an obstacle is located in a braking area, and the operation abnormality type information includes navigation abnormality information.
Under the condition that the service function device 11 includes a power module, the operation abnormality information is motor abnormality information, which includes at least one of motor stalling information and motor stalling information.
In some embodiments, the service function device 11 may determine the length of the response time required by the task to be processed according to the size of the corresponding data value of the relevant information. For example, the service function apparatus 11 determines whether the response time is shorter than a threshold value according to a comparison of the corresponding data value with a numerical threshold value, thereby determining whether to generate the second task request.
For example, in the case that the service function device 11 includes a power control module, if the remaining capacity of the battery is less than the capacity value threshold, a second task request is generated; in case the service function device 11 comprises an interaction module, a second task request is generated if the number of the same interaction requests is larger than the number value threshold.
In some embodiments, the service function device 11 may determine the length of the response time required by the task to be processed according to the type of the relevant information and the size of the corresponding data value. For example, in the case that the information related to the task to be processed is at least one of braking type information and abnormal operation type information, the service function device 11 determines whether the response time is shorter than a threshold value according to a comparison between the corresponding data value and a numerical threshold value, thereby determining whether to generate the second task request.
For example, in the case that the service function device 11 includes a bottom layer signal processing module, the braking class information includes information that an obstacle is located in a braking area, and if the distance from the obstacle is smaller than the distance data threshold, a second task request is generated; under the condition that the service function device 11 includes a power control module, the operation abnormality information is battery over-temperature information, and if the battery temperature exceeds a temperature data threshold, a second task request is generated.
In some embodiments, the service function device 11 configures an identifier in the task request according to the length of the response time, for indicating that the task request is the first task request or the second task request.
In some embodiments, the task request further comprises priority information for indicating a processing priority of the second task request in case the task request is the second task request.
In some embodiments, when each service function device sends a task request to the processor module, the task request may be classified as an urgent message request and a general message request. Each service function device may add an identifier to the transmitted message. For example, the request information may be configured according to the embodiment in fig. 3.
Fig. 3 shows a schematic view of further embodiments of an apparatus for processing information according to the present disclosure.
As shown in fig. 3, the task request may include a flag data segment, a priority information data segment, and a reserved bit data segment.
In some embodiments, the designator data segment occupies 1 byte. For example, a designator of 0 identifies the task request as a first task request (ordinary task request); a flag of 1 identifies the task request as a second task request (urgent task request).
In some embodiments, the priority information data segment occupies 3 bytes. 8 different priorities for identifying urgent task requests. A high priority task request may preempt resources of a low priority task request.
In some embodiments, the reserved bit data segment occupies 4 bytes for identifying extended functionality.
The first processor 12 receives and processes the first task request. The second processor 13 receives and processes the second task request, and transmits a processing result of the second task request to the first processor.
In some embodiments, the first processor 12 interrupts the current worker thread in response to the second processor 13 processing the second task request. After the second processor 13 finishes processing the second task request, the first processor is informed to resume the current working thread.
For example, the first processor 12 is used to control the logic flow of the entire robot, i.e. to engage the main thread of the robot. After the emergency task occurs, the second processor 13 needs to be called to respond, which is equivalent to stopping the current working thread of the robot from entering an interrupt state. After the emergency task processing is completed, the second processor 13 synchronizes the processing result to the first processor 12, so that the robot knows the emergency task that occurs and knows the response made to the emergency task.
In some embodiments, after receiving the relevant data of the sensors and devices controlled by the service function devices 11, the service function devices classify the tasks to be processed into an emergency class and a normal class according to the data types and the data values; when each service function device 11 requests the processor module to respond, the identifier is added to the task request and then reported to the processor module, and the response result of the processor module is waited.
In the above embodiment, the robot internal message event is classified into a general event and an emergency event; the event message is received and responded to by the first processor and the second processor, respectively, which are mounted on the communication bus. The first processor receives and responds to the common event; the second processor receives and responds to the emergency event and reports the processing result to the first processor.
Therefore, through the function division of the message event and the processor, the robot can be ensured to normally operate, and meanwhile, the priority processing and the low-delay response of the emergency event are not influenced by the current task of the robot.
Fig. 4 illustrates a flow diagram of some embodiments of a method of processing information of the present disclosure.
As shown in fig. 4, in step 410, a first task request or a second task request of a task to be processed sent by a business function device is received. The first task request requires a response time that is longer than the response time of the second task request. For example, the length of the response time is determined according to at least one of the type of the related information of the task to be processed or the size of the corresponding data value.
In some embodiments, in the case that the information related to the task to be processed is at least one of braking type information and running abnormality type information, a second task request sent by the service function device is received.
In step 420, it is determined whether a first task request or a second task request is received. For example, according to an identifier in a task request sent by the service function device, it is determined that the task request is a first task request or a second task request, and the identifier is configured by the service function device according to the length of the response time.
In step 430, the first task request is processed with the first processor in the event that the first task request is transmitted by the task function device.
In step 440, when the service function device transmits the second task request, the second task request is processed by the second processor, and a processing result of the second task request is transmitted to the first processor.
In some embodiments, in response to the second processor processing the second task request, interrupting the current worker thread with the first processor; and after the second processor finishes processing the second task request, informing the first processor to recover the current working thread.
In some embodiments, when the task request sent by the service function device is a second task request, determining a processing priority of the second task request according to priority information in the task request; the second task request is processed according to the processing priority.
FIG. 5 shows a block diagram of further embodiments of an apparatus for processing information of the present disclosure.
As shown in fig. 5, the information processing apparatus 5 of this embodiment includes: a memory 51 and a processor 52 coupled to the memory 51, the processor 52 being configured to execute a method of processing information in any one of the embodiments of the present disclosure based on instructions stored in the memory 51.
The memory 51 may include, for example, a system memory, a fixed nonvolatile storage medium, and the like. The system memory stores, for example, an operating system, an application program, a Boot Loader, a database, and other programs.
Fig. 6 shows a block diagram of further embodiments of an apparatus for processing information of the present disclosure.
As shown in fig. 6, the information processing apparatus 6 of this embodiment includes: a memory 610 and a processor 620 coupled to the memory 610, the processor 620 being configured to execute the method of processing information in any of the foregoing embodiments based on instructions stored in the memory 610.
The memory 610 may include, for example, system memory, fixed non-volatile storage media, and the like. The system memory stores, for example, an operating system, an application program, a Boot Loader, and other programs.
The information processing apparatus 6 may further include an input-output interface 630, a network interface 640, a storage interface 650, and the like. These interfaces 630, 640, 650 and the connections between the memory 610 and the processor 620 may be through a bus 660, for example. The input/output interface 630 provides a connection interface for input/output devices such as a display, a mouse, a keyboard, a touch screen, a microphone, and a sound box. The network interface 640 provides a connection interface for various networking devices. The storage interface 650 provides a connection interface for external storage devices such as an SD card and a usb disk.
Fig. 7 illustrates a block diagram of some embodiments of a robot of the present disclosure.
As shown in fig. 7, the robot 7 includes a processing device 71 for information in any of the embodiments described above.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media having computer-usable program code embodied therein, including but not limited to disk storage, CD-ROM, optical storage, and the like.
So far, the processing apparatus of information, the processing method of information, the robot, and the nonvolatile computer-readable storage medium according to the present disclosure have been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.
The method and system of the present disclosure may be implemented in a number of ways. For example, the methods and systems of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless specifically stated otherwise. Further, in some embodiments, the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (16)
1. An apparatus for processing information, comprising:
the service function equipment is used for sending a first task request or a second task request according to the response time required by the task to be processed, wherein the response time required by the first task request is longer than the response time required by the second task request;
a first processor for receiving and processing the first task request;
and the second processor is used for receiving and processing the second task request and sending a processing result of the second task request to the first processor.
2. The processing apparatus according to claim 1,
and the service function equipment receives the relevant information of the task to be processed and determines the response time required by the task to be processed according to at least one of the type of the relevant information or the size of the corresponding data value.
3. The processing apparatus according to claim 1,
the first processor interrupts a current work thread in response to the second processor processing the second task request;
and after the second processor finishes processing the second task request, informing the first processor to recover the current working thread.
4. The processing apparatus of claim 1, wherein
And the service function equipment configures a marker in a task request according to the length of the response time, and is used for indicating that the task request is the first task request or the second task request.
5. The processing apparatus according to claim 4,
the task request further includes priority information for indicating a processing priority of the second task request in a case where the task request is the second task request.
6. The processing apparatus according to any one of claims 1 to 5,
and the service function equipment determines that the response time is shorter than a threshold value and generates the second task request under the condition that the relevant information of the task to be processed is at least one of braking type information and abnormal operation type information.
7. The processing apparatus according to claim 6,
under the condition that the service function equipment comprises a bottom layer signal processing module, the braking type information comprises at least one of information that an obstacle is positioned in a braking area, information that a cliff exists and safety edge touching triggering information;
under the condition that the service function equipment comprises a power supply control module, the braking type information comprises emergency stop starting information, and the running abnormal type information is power supply abnormal information and comprises at least one of battery over-temperature information and battery overvoltage information;
under the condition that the service function equipment comprises an interaction module, the brake type information comprises at least one of touch brake information, voice brake information and shutdown information;
under the condition that the business function equipment comprises a navigation module, the braking information comprises information that an obstacle is positioned in a braking area, and the running abnormity information comprises navigation abnormity information;
and under the condition that the service function equipment comprises a power module, the operation abnormity information is motor abnormity information which comprises at least one item of motor stalling information and motor stalling information.
8. A method of processing information, comprising:
receiving a first task request or a second task request of a task to be processed, which is sent by a service function device, wherein the response time required by the first task request is longer than that of the second task request;
processing the first task request by using a first processor under the condition that the first task request is sent by the business function equipment;
and under the condition that the business function equipment sends the second task request, processing the second task request by using a second processor, and sending a processing result of the second task request to the first processor.
9. The processing method according to claim 8,
the length of the response time is determined according to at least one of the type of the relevant information of the task to be processed or the size of the corresponding data value.
10. The processing method of claim 8, wherein said processing the second task request with the second processor comprises:
interrupting a current worker thread with the first processor in response to the second processor processing the second task request;
and after the second processor finishes processing the second task request, informing the first processor to recover the current working thread.
11. The processing method of claim 8, further comprising:
and determining that the task request is the first task request or the second task request according to an identifier in the task request sent by the service function device, wherein the identifier is configured by the service function device according to the length of the response time.
12. The processing method of claim 8, wherein said processing the second task request with the second processor comprises:
under the condition that the task request sent by the business function equipment is the second task request, determining the processing priority of the second task request according to the priority information in the task request;
and processing the second task request according to the processing priority.
13. The processing method according to any one of claims 8 to 12, wherein the receiving the first task request or the second task request of the task to be processed, which is sent by the business function device, comprises:
and receiving the second task request sent by the service function equipment under the condition that the relevant information of the task to be processed is at least one of braking type information and running abnormity type information.
14. A robot, comprising:
an apparatus for processing information as claimed in any one of claims 1 to 7.
15. An apparatus for processing information, comprising:
a memory; and
a processor coupled to the memory, the processor configured to perform the method of processing information of any of claims 8-13 based on instructions stored in the memory.
16. A non-transitory computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the method of processing information of any one of claims 8-13.
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| CN202110024579.5A CN112686565A (en) | 2021-01-08 | 2021-01-08 | Information processing device and method and robot |
| PCT/CN2021/137413 WO2022148212A1 (en) | 2021-01-08 | 2021-12-13 | Apparatus and method for processing information, and robot |
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| CN202110024579.5A CN112686565A (en) | 2021-01-08 | 2021-01-08 | Information processing device and method and robot |
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| WO2022148212A1 (en) * | 2021-01-08 | 2022-07-14 | 京东科技信息技术有限公司 | Apparatus and method for processing information, and robot |
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