A robot state optimization control method, device and terminal equipment

Abstract

The present application is applicable to the field of robotics technology and provides a method, apparatus, and terminal device for optimizing the control of robot states. The method includes: creating a pre-processing queue and starting a timer to obtain a timing duration; adding received state sensor data that meets preset conditions to the pre-processing queue until the timing duration is detected to have reached a preset duration; merging the state sensor data in the pre-processing queue until the queue length of the pre-processing queue is one, adding the state sensor data in the pre-processing queue to an event queue, and controlling the control state of the robot according to the state sensor data in the event queue. The present application reduces the frequent state switching operations of the robot during movement by merging state sensor data in multiple ways, shortens data processing time, and improves data processing efficiency and the real-time performance of the robot movement.

Description

Technical Field

[0001] The present application belongs to the field of robot control technology, and in particular relates to a method, apparatus and terminal device for optimizing robot state control. Background Art

[0002] During the movement of the robot, the current movement state of the robot is usually controlled based on the control instructions or state sensor data sent by the user.

[0003] However, due to the continuous reporting of status sensor data, it is easy for the robot to experience a serious backlog of events in the event queue during movement, which increases processing time and reduces processing efficiency. Summary of the Invention

[0004] The embodiments of the present application provide a method and device for optimizing the control of a robot state, which can solve the problem of serious event backlog occurring during the robot control process, resulting in increased processing time and reduced processing efficiency.

[0005] In a first aspect, an embodiment of the present application provides a method for optimizing control of a robot state, comprising:

[0006] Create a pre-processing queue and start timing to obtain the timing duration;

[0007] Adding the received state sensing data that meets the preset conditions to the pre-processing queue until it is detected that the timing duration reaches the preset duration;

[0008] Merging the state sensing data in the pre-processing queue until the queue length of the pre-processing queue is one; wherein the merging processing method includes an adjacent odd-even merging processing method and an adjacent identical merging processing method;

[0009] The state sensing data in the pre-processing queue is added to the event queue, and the control state of the robot is controlled according to the state sensing data in the event queue.

[0010] In one embodiment, the state sensing data includes first state sensing data and second state sensing data;

[0011] After creating the pre-processing queue and starting the timing to obtain the timing duration, the following steps are also included:

[0012] Create a variable and initialize the variable value to the first state sensor data; wherein the first state sensor data is the sensor data that triggers the stop state, and the second state sensor data is the sensor data that triggers the start state.

[0013] In one embodiment, the adding of the received state sensing data that meets the preset conditions to the pre-processing queue until the timing duration is detected to reach the preset duration includes:

[0014] Whenever a state sensing data is received, the state sensing data is compared with the variable value;

[0015] When it is detected that the state sensing data is different from the variable value, updating the variable value to the state sensing data;

[0016] The state sensing data is added to the pre-processing queue until it is detected that the timing duration reaches a preset duration.

[0017] In one embodiment, after comparing the state sensing data with the variable value, the method further includes:

[0018] When it is detected that the state sensing data is the same as the variable value, the state sensing data is deleted.

[0019] In one embodiment, the merging and processing the state sensing data in the pre-processing queue until the queue length of the pre-processing queue is one includes:

[0020] In the pre-processing queue, performing adjacent odd-even merging processing on every two adjacent state sensing data until all the state sensing data in the pre-processing queue are the same;

[0021] Adjacent identical merging processing is performed on the state sensing data in the pre-processing queue until the queue length of the pre-processing queue is one.

[0022] In one embodiment, in the pre-processing queue, performing adjacent parity merging processing on every two adjacent state sensing data until all state sensing data in the pre-processing queue are the same includes:

[0023] In the pre-processing queue, the state sensor data that enters the queue first among every two adjacent state data are deleted according to the order of entering the queue, and the state sensor data that enters the queue later is retained until all the state sensor data in the pre-processing queue are the same.

[0024] In one embodiment, the performing adjacent identical merging processing on the state sensing data in the pre-processing queue until the queue length of the pre-processing queue is one includes:

[0025] According to the order of entering the queue, every two adjacent and identical state sensing data in the pre-processing queue are merged into one state sensing data until the queue length of the pre-processing queue is one.

[0026] In a second aspect, an embodiment of the present application provides an optimization control device for a robot state, comprising:

[0027] The queue creation module is used to create a pre-processing queue and start the timing to obtain the timing duration;

[0028] A data updating module, configured to add received state sensing data that meets preset conditions to the pre-processing queue until it is detected that the timing duration reaches a preset duration;

[0029] a merging processing module, configured to merge the state sensing data in the pre-processing queue until the queue length of the pre-processing queue is one; wherein the merging processing method includes an adjacent odd-even merging processing method and an adjacent identical merging processing method;

[0030] The state control module is used to add the state sensing data in the pre-processing queue to the event queue, and control the control state of the robot according to the state sensing data in the event queue.

[0031] In one embodiment, the state sensing data includes first state sensing data and second state sensing data;

[0032] The device further comprises:

[0033] The variable creation module is used to create a variable and initialize the variable value to the first state sensor data; wherein the first state sensor data is the sensor data that triggers the stop state, and the second state sensor data is the sensor data that triggers the start state.

[0034] In one embodiment, the data update module includes:

[0035] a comparing unit, configured to compare the state sensing data with the variable value each time a state sensing data is received;

[0036] a variable updating unit, configured to update the variable value to the state sensing data when detecting that the state sensing data is different from the variable value;

[0037] The first data updating unit is configured to add the state sensing data to the pre-processing queue until it is detected that the timing duration reaches a preset duration.

[0038] In one embodiment, the data updating module further includes:

[0039] The second data updating unit is configured to delete the state sensing data when it is detected that the state sensing data is the same as the variable value.

[0040] In one embodiment, the merging processing module includes:

[0041] a first merging unit, configured to perform adjacent odd-even merging processing on every two adjacent state sensing data in the pre-processing queue until all the state sensing data in the pre-processing queue are the same;

[0042] The second merging unit is configured to perform adjacent identical merging processing on the state sensing data in the pre-processing queue until the queue length of the pre-processing queue is one.

[0043] In one embodiment, the first merging unit includes:

[0044] The first merging subunit is used to delete the state sensor data that enters the queue first in each two adjacent state data in the pre-processing queue according to the order of entering the queue, and retain the state sensor data that enters the queue later, until all the state sensor data in the pre-processing queue are the same.

[0045] In one embodiment, the second merging unit includes:

[0046] The second merging subunit is configured to merge two adjacent and identical state sensing data in the pre-processing queue into one state sensing data according to the queue entry order, until the queue length of the pre-processing queue reaches one.

[0047] In a third aspect, an embodiment of the present application provides a terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for optimizing the control of the robot state described in any one of the first aspects above is implemented.

[0048] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, comprising a computer program, characterized in that when the computer program is executed by a processor, the method for optimizing the control of the robot state described in any one of the first aspects above is implemented.

[0049] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a terminal device, enables the terminal device to execute the robot state optimization control method described in any one of the above-mentioned first aspects.

[0050] Compared with the prior art, the embodiments of the present application have the following advantages: by merging state sensing data in multiple ways, the frequent state switching operations of the robot during movement are reduced, the data processing time is shortened, and the data processing efficiency and the real-time performance of the robot movement are improved.

[0051] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0053] Figure 1 1 is a flow chart of a method for optimizing control of a robot state provided in an embodiment of the present application;

[0054] Figure 2 is a schematic diagram of a preprocessing queue after preprocessing provided in an embodiment of the present application;

[0055] Figure 3 Schematic diagram of a pre-processing queue after adjacent odd-even merging provided in an embodiment of the present application;

[0056] Figure 4 Schematic diagram of a pre-processing queue after adjacent identical merge processing provided by an embodiment of the present application;

[0057] Figure 5 Schematic diagram of the structure of the robot state optimization control device provided in an embodiment of the present application;

[0058] Figure 6 It is a structural diagram of the terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0060] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0061] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0062] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0063] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0064] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0065] The robot state optimization control method provided in the embodiment of the present application can be applied to terminal devices such as intelligent robots and industrial robots. The embodiment of the present application does not impose any restrictions on the specific type of terminal devices.

[0066] Figure 1 A schematic flow chart of the robot state optimization control method provided in the present application is shown. As an example but not a limitation, the method can be applied to the above-mentioned robot.

[0067] S101: Create a pre-processing queue and start timing to obtain timing duration.

[0068] Specifically, during robot motion, sensors continuously report state sensor data, causing the robot's event queue to continuously add multiple state sensor data. To avoid missing control commands from the user, the robot must execute each data entry in the event queue, resulting in severe event congestion in the event queue. Accordingly, after establishing the event queue, a preprocessing queue is created to store preprocessed state sensor data, thereby reducing the amount of data in the event queue and improving processing efficiency.

[0069] Specifically, in order to improve the real-time performance of data processing, it is set to start the timing function when creating the pre-processing queue, and obtain the timing duration in real time to limit the amount of pre-processed state sensor data.

[0070] S102: Add the received state sensing data that meets the preset conditions to the pre-processing queue until it is detected that the timing duration reaches the preset duration.

[0071] Specifically, when status sensing data is received, the status sensing data is preprocessed, the status sensing data that does not meet the preset conditions is deleted, and the status sensing data that meets the preset conditions is added to the preprocessing queue until it is detected that the timing duration reaches the preset duration, and the preprocessing operation is stopped.

[0072] It is understandable that during the period of stopping the preprocessing operation, the state sensor data will still be received. To ensure the normal operation of the robot, it is set to restart the preprocessing operation of the state sensor data when it is detected that the final state sensor data is added to the event queue.

[0073] The preset conditions can be specifically set according to actual needs. Since the state sensor data is continuously uploaded, in this embodiment, it is set to pre-process the frequently switched sensor state data. Correspondingly, the preset conditions are the alternating state sensor data.

[0074] The preset duration can be set based on various factors such as the robot's sensitivity and the robot's motion type. For example, when the robot is highly sensitive and moves quickly, a smaller preset duration (e.g., 60 seconds) may be set. When the robot is less sensitive and moves slowly, a larger preset duration (e.g., 120 seconds) may be set.

[0075] S103 , merging the state sensing data in the pre-processing queue until the queue length of the pre-processing queue is one; wherein the merging method includes an adjacent odd-even merging method and an adjacent identical merging method.

[0076] Specifically, multiple sensor state data in the pre-processing queue are merged in various ways in the order in which they enter the queue until it is detected that only one state sensor data remains in the pre-processing queue (the queue length of the pre-processing queue is one). The merging methods for the state sensor data in the pre-processing queue include, but are not limited to, an adjacent odd-even merging method and an adjacent identical merging method.

[0077] S104: Add the state sensing data in the pre-processing queue to the event queue, and control the control state of the robot according to the state sensing data in the event queue.

[0078] Specifically, the state sensing data in the pre-processing queue is added to the event queue, and the next control state of the robot is controlled according to the state sensing data in the event queue.

[0079] By merging and processing frequently switched state sensor data in the order they enter the queue, the state sensor data that the robot ultimately needs to execute within the preset time period is accurately determined. While ensuring the stability and real-time performance of the robot's movement, the state sensor data in the event queue is reduced, thereby improving data processing efficiency.

[0080] In one embodiment, the state sensing data includes first state sensing data and second state sensing data;

[0081] After creating the pre-processing queue and starting the timing to obtain the timing duration, the following steps are also included:

[0082] Create a variable and initialize the variable value to the first state sensor data; wherein the first state sensor data is the sensor data that triggers the stop state, and the second state sensor data is the sensor data that triggers the start state.

[0083] Specifically, the state sensor data includes first state sensor data and second state sensor data. The first state sensor data is the sensor data that triggers the stop state, and the second state sensor data is the sensor data that triggers the start state. When creating a preprocessing queue, a corresponding variable is created and its value is initialized to the first state sensor data.

[0084] In one embodiment, the adding of the received state sensing data that meets the preset conditions to the pre-processing queue until the timing duration is detected to reach the preset duration includes:

[0085] Whenever a state sensing data is received, the state sensing data is compared with the variable value;

[0086] When it is detected that the state sensing data is different from the variable value, updating the variable value to the state sensing data;

[0087] The state sensing data is added to the pre-processing queue until it is detected that the timing duration reaches a preset duration.

[0088] Specifically, each time a state sensor data is received, the state sensor data is compared with the above-mentioned variable value. When it is detected that the state sensor data is different from the variable value, the variable value is updated to the state sensor data, and the state sensor data is added to the preprocessing queue. The above operation is repeated so that multiple adjacent and different state sensor data are stored in the preprocessing queue until it is detected that the timing duration reaches the preset duration, and the comparison of the state sensor data with the variable value and subsequent steps are stopped.

[0089] like Figure 2 , which shows a schematic diagram of a preprocessing queue after preprocessing.

[0090] Figure 2 In the example, the first state sensor data is the sensor data that triggers the stop state and is represented by 0; the second state sensor data is the sensor data that triggers the start state and is represented by 1. After comparing the received state sensor data with the variable value (initialized to the first state sensor data), the resulting preprocessing queue specifically consists of state sensor data that alternates between 1 and 0.

[0091] In one embodiment, after comparing the state sensing data with the variable value, the method further includes:

[0092] When it is detected that the state sensing data is the same as the variable value, the state sensing data is deleted.

[0093] Specifically, when it is detected that the state sensing data is the same as the variable value, it is determined that the state sensing data does not meet the frequent switching requirement, and the state sensing data is deleted.

[0094] In one embodiment, the merging and processing the state sensing data in the pre-processing queue until the queue length of the pre-processing queue is one includes:

[0095] In the pre-processing queue, performing adjacent odd-even merging processing on every two adjacent state sensing data until all the state sensing data in the pre-processing queue are the same;

[0096] Adjacent identical merging processing is performed on the state sensing data in the pre-processing queue until the queue length of the pre-processing queue is one.

[0097] Specifically, for state sensor data that switches frequently, it can be considered that the state sensor data that the robot ultimately needs to execute is the state sensor data that enters later in chronological order; correspondingly, it is set in the preprocessing queue, and adjacent odd-even merging processing is performed on every two adjacent and different state sensor data in the order of entering the queue, until all the state sensor data in the preprocessing queue are the same, and the adjacent identical merging processing is continued for the state sensor data in the preprocessing queue until the queue length of the preprocessing queue is one, that is, the state sensor data that enters the queue last in the preprocessing queue is retained.

[0098] In one embodiment, in the pre-processing queue, performing adjacent parity merging processing on every two adjacent state sensing data until all state sensing data in the pre-processing queue are the same includes:

[0099] In the pre-processing queue, the state sensor data that enters the queue first among every two adjacent state data are deleted according to the order of entering the queue, and the state sensor data that enters the queue later is retained until all the state sensor data in the pre-processing queue are the same.

[0100] Specifically, multiple frequently switched state sensor data are stored in the pre-processing queue. It is necessary to delete the state sensor data that enters the queue first among each two adjacent state data in the order of entering the queue, and retain the state sensor data that enters the queue later, until all the state data in the pre-processing queue are the same and are the state sensor data that enters the queue later during the switching process.

[0101] like Figure 3 FIG. 1 is a schematic diagram showing a pre-processing queue after adjacent odd-even merging processing.

[0102] The original preprocessing queue is as follows Figure 2 The figure shows that the state sensor data is composed of alternating 1 and 0. By deleting the state sensor data that enters the queue first (i.e. 1) and retaining the state sensor data that enters the queue later (i.e. 0) in the order of entering the queue, we can get Figure 3 The pre-processing queue in is composed of multiple consecutive, identical 0s.

[0103] In one embodiment, the performing adjacent identical merging processing on the state sensing data in the pre-processing queue until the queue length of the pre-processing queue is one includes:

[0104] According to the order of entering the queue, every two adjacent and identical state sensing data in the pre-processing queue are merged into one state sensing data until the queue length of the pre-processing queue is one.

[0105] Specifically, in the pre-processing queue obtained after the adjacent odd-even merging process, each adjacent and identical two state sensor data are merged into one state sensor data in the order of entering the queue, until only the last state sensor data entering the queue remains in the pre-processing queue (that is, the queue length of the pre-processing queue is one).

[0106] like Figure 4 As shown, a schematic diagram of a pre-processing queue after adjacent identical merging is shown.

[0107] After the adjacent odd-even merging process, we get Figure 3 The queue is composed of multiple consecutive and identical 0s. Then, according to the order of entry into the queue, each adjacent and identical two state sensor data are merged into one state sensor data (that is, each adjacent and identical two 0s are merged into one 0), until only the last state sensor data (0) that entered the queue remains in the pre-processing queue.

[0108] This embodiment combines state sensing data in multiple ways to reduce the frequent state switching operations of the robot during movement, shorten the data processing time, and improve data processing efficiency and the real-time performance of the robot movement.

[0109] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0110] Corresponding to the optimization control method of the robot state described in the above embodiment, Figure 5 A structural block diagram of the robot state optimization control device provided in an embodiment of the present application is shown. For the sake of convenience, only the parts related to the embodiment of the present application are shown.

[0111] Reference Figure 5 The robot state optimization control device 100 includes:

[0112] The queue creation module 101 is used to create a pre-processing queue and start timing to obtain a timing duration;

[0113] The data updating module 102 is configured to add the received state sensing data that meets the preset conditions to the pre-processing queue until the timing duration reaches the preset duration;

[0114] A merging processing module 103 is configured to merge the state sensing data in the pre-processing queue until the queue length of the pre-processing queue is one; wherein the merging processing method includes an adjacent odd-even merging processing method and an adjacent identical merging processing method;

[0115] The state control module 104 is configured to add the state sensing data in the pre-processing queue to the event queue, and control the control state of the robot according to the state sensing data in the event queue.

[0116] In one embodiment, the state sensing data includes first state sensing data and second state sensing data;

[0117] The device further comprises:

[0118] The variable creation module is used to create a variable and initialize the variable value to the first state sensor data; wherein the first state sensor data is the sensor data that triggers the stop state, and the second state sensor data is the sensor data that triggers the start state.

[0119] In one embodiment, the data update module includes:

[0120] a comparing unit, configured to compare the state sensing data with the variable value each time a state sensing data is received;

[0121] a variable updating unit, configured to update the variable value to the state sensing data when detecting that the state sensing data is different from the variable value;

[0122] The first data updating unit is configured to add the state sensing data to the pre-processing queue until it is detected that the timing duration reaches a preset duration.

[0123] In one embodiment, the data updating module further includes:

[0124] The second data updating unit is configured to delete the state sensing data when it is detected that the state sensing data is the same as the variable value.

[0125] In one embodiment, the merging processing module includes:

[0126] a first merging unit, configured to perform adjacent odd-even merging processing on every two adjacent state sensing data in the pre-processing queue until all the state sensing data in the pre-processing queue are the same;

[0127] The second merging unit is configured to perform adjacent identical merging processing on the state sensing data in the pre-processing queue until the queue length of the pre-processing queue is one.

[0128] In one embodiment, the first merging unit includes:

[0129] The first merging subunit is used to delete the state sensor data that enters the queue first in each two adjacent state data in the pre-processing queue according to the order of entering the queue, and retain the state sensor data that enters the queue later, until all the state sensor data in the pre-processing queue are the same.

[0130] In one embodiment, the second merging unit includes:

[0131] The second merging subunit is configured to merge two adjacent and identical state sensing data in the pre-processing queue into one state sensing data according to the queue entry order, until the queue length of the pre-processing queue reaches one.

[0132] This embodiment combines state sensing data in multiple ways to reduce the frequent state switching operations of the robot during movement, shorten the data processing time, and improve data processing efficiency and the real-time performance of the robot movement.

[0133] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0134] Figure 6 This is a schematic diagram of the structure of the terminal device provided in this embodiment. Figure 6 As shown, the terminal device 6 of this embodiment includes: at least one processor 60 ( Figure 6 Only one is shown), a memory 61 and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, wherein the processor 60 implements the steps of the above-mentioned embodiment of the optimization control method for any of the robot states when executing the computer program 62.

[0135] The terminal device 6 can be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will understand that Figure 6 It is only an example of the terminal device 6 and does not constitute a limitation on the terminal device 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0136] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor.

[0137] In some embodiments, the memory 61 may be an internal storage unit of the terminal device 6, such as a hard disk or memory of the terminal device 6. In other embodiments, the memory 61 may also be an external storage device of the terminal device 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital card (SD), a flash card, etc. equipped on the terminal device 6. Furthermore, the memory 61 may also include both an internal storage unit of the terminal device 6 and an external storage device. The memory 61 is used to store an operating system, application programs, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 61 may also be used to temporarily store data that has been output or is about to be output.

[0138] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0139] An embodiment of the present application also provides a terminal device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps of any of the above-mentioned method embodiments when executing the computer program.

[0140] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned various method embodiments can be implemented.

[0141] An embodiment of the present application provides a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned various method embodiments when executing the computer program product.

[0142] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process of the above-mentioned method embodiment by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can at least include: any entity or device capable of carrying computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, mobile hard drive, magnetic disk, or optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals or telecommunication signals.

[0143] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0144] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0145] In the embodiments provided in this application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0146] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0147] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A robot state optimization control method, characterized in that: include: Create a pre-processing queue and start timing to obtain the timing duration; Adding the received state sensing data that meets the preset conditions to the pre-processing queue until it is detected that the timing duration reaches the preset duration; Merging the state sensor data in the pre-processing queue until the queue length of the pre-processing queue is one, comprising: in the pre-processing queue, deleting the state sensor data that enters the queue first among every two adjacent state data according to the order of entering the queue, and retaining the state sensor data that enters the queue later, until all the state sensor data in the pre-processing queue are the same; merging every two adjacent and identical state sensor data in the pre-processing queue into one state sensor data according to the order of entering the queue, until the queue length of the pre-processing queue is one; wherein the merging processing method is specifically an adjacent odd-even merging processing method and an adjacent identical merging processing method; The state sensing data in the pre-processing queue is added to the event queue, and the control state of the robot is controlled according to the state sensing data in the event queue.

2. The robot state optimization control method according to claim 1, characterized in that: The state sensing data includes first state sensing data and second state sensing data; After creating the pre-processing queue and starting the timing to obtain the timing duration, the following steps are also included: Create a variable and initialize the variable value to the first state sensor data; wherein the first state sensor data is the sensor data that triggers the stop state, and the second state sensor data is the sensor data that triggers the start state.

3. The robot state optimization control method according to claim 2, characterized in that: The step of adding the received state sensing data that meets the preset conditions to the pre-processing queue until detecting that the timing duration reaches the preset duration includes: Whenever a state sensing data is received, the state sensing data is compared with the variable value; When it is detected that the state sensing data is different from the variable value, updating the variable value to the state sensing data; The state sensing data is added to the pre-processing queue until it is detected that the timing duration reaches a preset duration.

4. The method for optimizing the robot state according to claim 3, wherein: After comparing the state sensing data with the variable value, the method further includes: When it is detected that the state sensing data is the same as the variable value, the state sensing data is deleted.

5. A robot state optimization control device, characterized in that: include: The queue creation module is used to create a pre-processing queue and start the timing to obtain the timing duration; A data updating module, configured to add received state sensing data that meets preset conditions to the pre-processing queue until it is detected that the timing duration reaches a preset duration; a merging processing module, configured to merge the state sensing data in the pre-processing queue until the queue length of the pre-processing queue is one; wherein the merging processing method is specifically an adjacent odd-even merging processing method and an adjacent identical merging processing method; a state control module, configured to add the state sensing data in the pre-processing queue to the event queue, and control the control state of the robot according to the state sensing data in the event queue; The merging processing module includes: a first merging unit, configured to perform adjacent odd-even merging processing on every two adjacent state sensing data in the pre-processing queue until all the state sensing data in the pre-processing queue are the same; a second merging unit, configured to perform adjacent identical merging processing on the state sensing data in the pre-processing queue until the queue length of the pre-processing queue is one; The first merging unit includes: a first merging subunit, configured to delete, in the pre-processing queue, the state sensor data that enters the queue earlier than any two adjacent state data, and retain the state sensor data that enters the queue later, until all the state sensor data in the pre-processing queue are the same; The second merging unit includes: The second merging subunit is configured to merge two adjacent and identical state sensing data in the pre-processing queue into one state sensing data according to the queue entry order, until the queue length of the pre-processing queue reaches one.

6. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 5 is implemented.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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