CN113059562A - Robot, thread adjusting method and thread synchronizing method - Google Patents
Robot, thread adjusting method and thread synchronizing method Download PDFInfo
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- CN113059562A CN113059562A CN202110302491.5A CN202110302491A CN113059562A CN 113059562 A CN113059562 A CN 113059562A CN 202110302491 A CN202110302491 A CN 202110302491A CN 113059562 A CN113059562 A CN 113059562A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention discloses a method for adjusting program execution time, which comprises the following steps: judging whether the target content being processed is executed completely or not in the execution process of at least one content of the thread; if the target content is not executed, comparing the actual execution time of the thread with the preset execution time of the executed content; when the actual execution time is greater than or equal to the predetermined execution time, the execution of the target content is ended. The invention also discloses a multithreading synchronization method, which comprises the step of executing each thread in the multithreading according to the thread execution time adjusting method, so that each thread can be executed within the corresponding preset execution time. The invention also discloses a robot and a storage medium. The invention at least solves the problem of overtime thread execution and improves the accuracy of thread execution time.
Description
Technical Field
The invention relates to the technical field of intelligent robots. More specifically, the present invention relates to a robot and a thread adjusting method and a thread synchronizing method.
Background
With the development of science and technology, robots have become popular in people's lives. The current robot has a complex operating system composed of multiple sensors, and usually comprises a microphone, a camera, a laser radar, ultrasonic waves, an infrared distance sensor, a loudspeaker, limbs and the like. Obviously, at the same time, the robot system may receive robot events such as sounds transmitted by a microphone, faces detected by a camera, obstacles detected by a laser radar, and the like, and thus, a robot multithread processing mechanism occurs. However, in the conventional robot, a time difference of the execution time occurs in the multi-thread working mode, which causes an inaccurate execution time of each thread in the plurality of threads, thereby causing an unsynchronization phenomenon among the plurality of threads.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
It is still another object of the present invention to provide at least a thread execution time adjustment method in which the problem of thread execution timeout is solved by controlling the execution time of a thread. On the basis of the foregoing, the invention also provides a multithreading synchronization method, a robot and a storage medium.
Specifically, the invention is realized by the following technical scheme:
< first aspect of the invention >
The first aspect of the present invention provides a method for adjusting a thread execution time, including:
judging whether the target content being processed is executed completely or not in the execution process of at least one content of the thread;
if the target content is not executed, comparing the actual execution time of the thread with the preset execution time of the executed content;
when the actual execution time is greater than or equal to the predetermined execution time, the execution of the target content is ended.
In the first aspect of the present invention, the method for adjusting the thread execution time controls the execution time of each content in the thread, so that each content can be completely executed within a predetermined execution time, and thus, the overall execution time of the thread is controlled within a predetermined overall execution time range, thereby solving the problem of thread execution timeout, and effectively improving the accuracy of the thread execution time.
In some embodiments, the method for adjusting the thread execution time further includes:
and if the target content is executed completely, the thread enters a waiting state.
Through the technical scheme, the thread in the waiting state relieves the load of task execution for the processor, so that the thread jamming probability is reduced.
In some aspects, the thread is selected from one of an action thread, an expression thread, and a sound thread.
In some embodiments, each of the at least one content is set with a corresponding first flag bit, which is used to determine whether the corresponding content is executed completely.
By the technical scheme, the execution result of each content in the thread can be mastered in real time.
In some technical solutions, the actual execution time is a time period from an initial execution time of the thread to a current execution time.
By the technical scheme, the actual execution time of a single thread can be accurately obtained.
In some aspects, the executed content includes target content and content that is executed prior to the target content.
In some technical solutions, the thread execution time adjustment method uses a crystal oscillator as a clock source to calculate the actual execution time.
Through the technical scheme, the accurate clock frequency can be generated, and the accurate time reference is provided for the execution time of the thread.
< second aspect of the invention >
A second aspect of the invention provides a method of multi-threaded synchronization, wherein,
executing each thread in the multiple threads according to the method for adjusting the thread execution time in the first aspect, so that each thread can be executed within the corresponding preset execution time.
In the second aspect of the present invention, each thread in the multi-thread synchronization method can be executed within a preset execution time, so that the overall execution time of each of the multiple threads is more accurate. Due to the accuracy of the thread execution time, synchronization among threads in multiple threads is achieved.
In some embodiments, the method for synchronizing multiple threads further comprises:
when any thread is executed, acquiring a corresponding second zone bit;
and judging whether the value of the second flag bit is True, and if so, ending the corresponding thread.
By the technical scheme, the thread can normally exit, and adverse consequences caused by forced termination of the thread are effectively avoided.
< third aspect of the invention >
A third aspect of the present invention provides a robot, comprising a memory and a processor, wherein the memory stores a computer program operable on the processor, and the computer program, when executed by the processor, implements the method for adjusting thread execution time according to the first aspect of the present invention and the method for synchronizing multiple threads according to the second aspect of the present invention.
< fourth aspect of the invention >
A fourth aspect of the present invention provides a storage medium storing computer instructions which, when executed by a processor, implement the method for adjusting thread execution time according to the first aspect of the present invention and the method for synchronizing multiple threads according to the second aspect of the present invention.
The beneficial effects of the invention at least comprise:
in the invention, the execution time of each content in the thread is controlled, so that each content can be completely executed within the preset execution time, thereby controlling the whole execution time of the thread within the preset whole execution time range, and solving the problem of thread execution timeout. Thus, the present invention may: 1) the phenomenon of overtime thread execution is avoided, and the accuracy of thread execution time is effectively improved; 2) the burden of the processor for executing tasks is effectively reduced, and the thread blocking probability is reduced; 3) the actual execution time of a single thread can be accurately obtained; 4) the execution result of each content in the thread can be mastered in real time; 5) the method can generate accurate clock frequency and provide accurate time reference for the execution time of the thread; 6) the synchronization among threads in multiple threads is realized; 7) the thread can be normally exited, and adverse consequences caused by forced termination of the thread are effectively avoided.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor;
FIG. 1 is a flow diagram of a method of adjusting thread execution time of the present invention in some embodiments;
FIG. 2 is a block diagram of a thread in some embodiments of the invention;
FIG. 3 is a block diagram illustrating threads in accordance with further embodiments of the present invention;
FIG. 4 is a flow diagram of a method for adjusting thread execution time of the present invention in further embodiments;
FIG. 5 is a schematic view of the structure of the robot of the present invention in some embodiments;
figure 6 is a block diagram of a robot of the present invention in some embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly and completely apparent, the technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first" and "second" and the like in the description of the embodiments of the present application are used for distinguishing different objects, and are not used for describing a specific order of the objects. For example, the first flag bit and the second flag bit are used to distinguish different flag bits, rather than to describe a particular order of the flag bits; the first predetermined execution time and the second predetermined execution time are for distinguishing between different predetermined execution times, and are not for describing a specific order of the predetermined execution times
In the embodiments of the present application, words such as "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
< method for adjusting thread execution time >
Fig. 1 is a flowchart illustrating a thread execution time adjustment method according to some embodiments of the present application, where in fig. 1:
s101, in the process of executing at least one content of the thread, judging whether the target content being processed is executed completely.
In this embodiment, the thread may be selected from one of an action thread, an expression thread, and a sound thread. The action thread comprises at least one piece of action information, the expression thread comprises at least one piece of expression information, and the sound thread comprises at least one piece of sound information. For example, the motion information in the present embodiment may be a motion of the robot lifting the vertical right hand to be flush with the shoulder; the expression information can be the robot displaying a smiling face or an expression of an arrow pointing to the right; the sound information may be a sound asking for a right turn.
It should be understood that the target content may be a portion of the exemplary action information described above (the action of the bot raising the vertical right hand to be level with the shoulder).
And S102, if the target content is not executed completely, comparing the actual execution time of the thread with the preset execution time of the executed content.
It should be noted that the actual execution time is a time period from the initial execution time of the thread to the current execution time.
The executed content includes target content and content that is executed before the target content.
For example, the target content may be a position in the action thread where the right hand of the robot is lifted vertically to a position shifted outward from the robot body by 5 degrees (an angle of 5 degrees).
Since there are many cases where the actual execution time of the thread is compared with the predetermined execution time of the executed content, in the present invention, the comparison of the actual execution time and the predetermined execution time of the executed content will be described exemplarily from the start to the end of the thread.
First, when the action thread starts executing, the predetermined execution time of the executed content is only the predetermined execution time of the target content, and there is no predetermined execution time of the content other than the target content, that is, if the predetermined execution time of the target content is the first predetermined execution time, the predetermined execution time of the executed content is the first predetermined execution time. And if the actual execution time is less than the preset execution time of the executed content, continuing to execute the target content. Before the actual execution time is larger than or equal to the preset execution time of the executed content, the actual execution time is continuously calculated, and then the actual execution time is compared with the preset execution time of the executed content. If the actual execution time is greater than or equal to the predetermined execution time of the executed content, the execution of the target content is terminated, and the next content is executed, that is, the next content becomes the target content (the executing content).
It should be noted that the "ending the execution of the target content if the actual execution time is greater than or equal to the predetermined execution time of the executed content" includes three cases. In one case, when the actual execution time is greater than or equal to the predetermined execution time of the executed content, the target content is just executed completely, and the next content can be executed in a sequential manner; the other situation is that when the actual execution time is larger than or equal to the preset execution time of the executed content, the target content is not executed completely, at this time, the target content is ended and the next content is executed, and the rest target content which is not executed in the thread; in another case, when the actual execution time is greater than or equal to the predetermined execution time of the executed content, the target content is executed earlier, the processor is in a waiting state, and when the actual execution time is greater than or equal to the predetermined execution time of the executed content, the next content is started to be executed.
Secondly, when the action thread starts to execute the next content, the next content becomes the target content, and one of the contents which is not executed by the thread becomes the next content. At this time, the predetermined execution time of the target content is a second predetermined execution time, and the predetermined execution time of the executed content is the sum of the first predetermined execution time and the second predetermined execution time. The comparison of the actual execution time with the predetermined execution time of the executed content is then performed as described above.
It should be understood that the predetermined execution time of the executed contents is calculated by accumulating the predetermined execution time of each of the target contents and the contents executed before the target contents.
And S103, when the actual execution time is larger than or equal to the preset execution time, ending the execution of the target content.
It should be noted that the actual execution time is a time period from the initial execution time of the thread to the current execution time.
The predetermined execution time is a predetermined execution time of the executed content.
In this embodiment, when executing the target content, if the actual execution time is greater than or equal to the predetermined execution time, the execution of the target content is finished, and the next content is executed. It is understood that when the actual execution time is greater than or equal to the predetermined execution time, the target content may or may not have been executed. If the target content is not executed completely, the next content is still executed, and the target content is not executed continuously.
In the first aspect of the present invention, the method for adjusting the thread execution time controls the execution time of each content in the thread, so that each content can be completely executed within a predetermined execution time, and thus, the overall execution time of the thread is controlled within a predetermined overall execution time range, thereby solving the problem of thread execution timeout, and effectively improving the accuracy of the thread execution time.
To further illustrate the principles of the present invention, the present invention will be further explained with reference to the drawings shown in fig. 2-3.
FIG. 2 is a structural diagram of a single thread according to the present invention, wherein the thread includes first to N contents. Fig. 3 is a diagram for processing each content shown in fig. 2 in time series. For ease of understanding, each of the contents in fig. 2 is processed in a manner of sequentially performing processing in time series in the present embodiment.
The processing from the first to N contents will be explained in turn as follows:
for convenience of illustration, as shown in fig. 3, the present invention indicates the predetermined execution time of the executed content by a parameter T, and the predetermined execution times corresponding to each content of the thread are respectively indicated by parameters T1 to Tn, i.e., a first content corresponds to T1, a second content corresponds to T2, and a third content corresponds to T3.
Since the first content has no preceding content, the predetermined execution time T of the executed content is T1. In fig. 3, the actual execution time of the first content exceeds the predetermined execution time T1 of the first content, and thus, when the actual execution time of the thread is greater than or equal to the predetermined execution time T, the execution of the first content is ended and the execution of the second content is started. The remaining unexecuted content of the first content is the first unexecuted content, and the first unexecuted content cannot be executed in the execution process of the thread.
Since the first content is executed before the second content is executed, the predetermined execution time T of the executed content is T1 plus T2, i.e., T is the sum of the respective predetermined execution times of the first content and the second content. In fig. 3, the actual execution time of the second content is smaller than the predetermined execution time T2 of the second content. Therefore, when the second content is executed, the actual execution time of the thread is less than the predetermined execution time T, and at this time, the execution of the second content is ended, and the processor is in a waiting state, and does not execute any thread content. In the present embodiment, the waiting period after such second content is described as the first waiting period. And when the actual execution time of the thread is greater than or equal to the preset execution time T, executing the third content.
Before the third content is executed, the first content and the second content are executed, and therefore, the predetermined execution time T of the executed content is T1 plus T2 plus T3, i.e., T is calculated by adding the predetermined execution times of the first content, the second content and the third content. In fig. 3, the actual execution time of the third content is equal to the predetermined execution time T3 of the third content. Therefore, when the third content is completely executed, the actual execution time of the thread is equal to the predetermined execution time T, and at this time, the execution of the third content is ended and the execution of the fourth content is started.
The embodiment executes the first to nth contents in sequence according to the execution modes of the first to third contents, so as to control the overall execution time of the thread within a predetermined overall execution time range, thereby solving the problem of thread execution timeout.
In some embodiments, as shown in fig. 4, the method for adjusting the thread execution time further includes:
s104, if the target content is executed, the thread enters a waiting state.
It should be noted that the wait state may have two wait states, which are a 0s wait state and a wait state greater than 0 s. Wherein the 0s wait state is: if the target content is executed completely and the actual execution time is equal to the preset execution time, the next content can be directly processed; the wait state greater than 0s is: if the target content is executed completely, but the actual execution time is less than the predetermined execution time, the time greater than 0s needs to be waited, and the next content is processed when the actual execution time is greater than or equal to the predetermined execution time.
With the above embodiments, the thread in the waiting state relieves the processor of the burden of task execution, thereby reducing the probability of thread stalling.
In some embodiments, each of the at least one content is set with a corresponding first flag for determining whether the corresponding content is executed completely.
In this embodiment, the values of the first flag bit may be True and False. Wherein True is that the corresponding content has been executed; false indicates that the corresponding content is not executed. The value of the first flag bit is determined by those skilled in the art as needed and is not limited to the aforementioned exemplary True and False.
With the above-described embodiment, the execution result of each content in a thread can be grasped in real time.
In some embodiments, the thread execution time adjustment method uses a crystal oscillator as a clock source to calculate the actual execution time.
In this embodiment, the crystal oscillator is an 8MHz crystal oscillator.
Through the embodiment, the accurate clock frequency can be generated, and the accurate time reference is provided for the execution time of the thread.
< method of synchronization of multiple threads >
The multi-thread synchronization method of the present application is implemented in some embodiments as follows:
executing each thread in the multiple threads according to the method for adjusting the thread execution time in the first aspect, so that each thread can be executed within the corresponding preset execution time.
In this embodiment, each thread in the multi-thread synchronization method can be executed within a preset execution time, so that the overall execution time of each of the multiple threads is more accurate. Due to the accuracy of the thread execution time, synchronization among threads in multiple threads is achieved.
In some embodiments, the method of multi-threaded synchronization further comprises:
when any thread is executed, acquiring a corresponding second zone bit;
and judging whether the value of the second flag bit is True, and if so, ending the corresponding thread.
In this embodiment, the values of the second flag bit may be True and False. Wherein True is that the corresponding thread is executed; false indicates that the corresponding thread is not executed. The value of the second flag bit is determined by one skilled in the art as desired and is not limited to the aforementioned exemplary True and False
By the embodiment, the thread can be normally exited, and adverse consequences caused by forced termination of the thread are effectively avoided.
< robot >
As shown in fig. 5 to 6, a third aspect of the present invention provides a robot 200, including a memory 201 and a processor 202, where the memory 201 stores a computer program that can be executed on the processor 202, and when the computer program is executed by the processor 202, the method for adjusting the execution time of a thread according to the first aspect of the present invention and the method for synchronizing multiple threads according to the second aspect of the present invention are implemented.
< storage Medium >
A fourth aspect of the present invention provides a storage medium storing computer instructions which, when executed by a processor, implement the method for adjusting thread execution time according to the first aspect of the present invention and the method for synchronizing multiple threads according to the second aspect of the present invention.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it: although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for adjusting the execution time of a thread is characterized by comprising the following steps:
judging whether the target content being processed is executed completely or not in the execution process of at least one content of the thread;
if the target content is not executed, comparing the actual execution time of the thread with the preset execution time of the executed content;
when the actual execution time is greater than or equal to the predetermined execution time, the execution of the target content is ended.
2. The method for adjusting thread execution time according to claim 1, further comprising:
and if the target content is executed completely, the thread enters a waiting state.
3. The method for adjusting execution time of a thread according to claim 1 or 2, wherein the thread is selected from one of an action thread, an expression thread, and a sound thread.
4. The method for adjusting thread execution time according to claim 1, wherein each of the at least one content is set with a corresponding first flag bit for determining whether the corresponding content is executed completely.
5. The method of claim 1, wherein the executed content comprises target content and content executed before the target content.
6. The method according to claim 1, wherein a crystal oscillator is used as a clock source to calculate the actual execution time.
7. A method of multi-threaded synchronization, comprising:
executing each thread in the multiple threads according to the thread execution time adjustment method of any one of claims 1 to 6, so that each thread can be executed within the corresponding preset execution time.
8. The method of claim 7, further comprising:
when any thread is executed, acquiring a corresponding second zone bit;
and judging whether the value of the second flag bit is True, and if so, ending the corresponding thread.
9. A robot comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, the computer program when executed by the processor, to perform: the thread execution time adjustment method of any one of claims 1 to 6; or a method of synchronising multiple threads as claimed in claim 7 or 8.
10. A storage medium having stored thereon computer instructions that, when executed by a processor, implement: the thread execution time adjustment method of any one of claims 1 to 6; or a method of synchronising multiple threads as claimed in claim 7 or 8.
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