CN106020850A - Method and device for closing applications in operation system of robot - Google Patents
Method and device for closing applications in operation system of robot Download PDFInfo
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- CN106020850A CN106020850A CN201610462893.0A CN201610462893A CN106020850A CN 106020850 A CN106020850 A CN 106020850A CN 201610462893 A CN201610462893 A CN 201610462893A CN 106020850 A CN106020850 A CN 106020850A
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- event
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/4401—Bootstrapping
- G06F9/442—Shutdown
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- Theoretical Computer Science (AREA)
- Computer Security & Cryptography (AREA)
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- General Engineering & Computer Science (AREA)
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Abstract
The invention provides a method for closing applications in an operation system of a robot. The method comprises steps as follows: input of one or more specific incidents is accepted, and the specific incidents are included in an event list including various events; event types and intentions corresponding to the specific events are recognized; the corresponding applications are closed based on the event types and intentions. With the adoption of the method, the intelligent robot can close the applications though triggering of the events under the condition that various sensing devices are integrated, and some application closing events are self-defined by the operation system during application development, so that the applications of the robot are easier to operate compared with the prior art.
Description
Technical field
The present invention relates to field in intelligent robotics, specifically, relate to a kind of closedown in robot operating system
The method and device of application.
Background technology
Along with the appearance of smart machine, developer finds that increasing machine cannot be with original operation
The interactive mode of system enters or exits application.Such as, for the equipment of no touch screen, then can not be with touching
The interactive mode touched enters or exits application.For another example, for the equipment that sensor is more, entering or exit should
Method not only can be by screen touch, it is also possible to use other sensing modes to interact.
Therefore, exit, for above-mentioned existing robot operating system, the problem that the mode of application is single, need one
Kind can the mode of the compatible multiple modalities input method and apparatus of closing related application.
Summary of the invention
Present invention aims to prior art can not close the problem applied by compatible various ways, it is provided that
A kind of method for closing application program in robot operating system, said method comprising the steps of:
Receiving the triggering input of one or more particular event, described particular event is contained in has polytype thing
In the list of thing of part；
Compare described in described list of thing identification the event type corresponding to particular event and intention；
Based on the application program that event type is corresponding with being intended to closedown.
According to one embodiment of present invention, close in the method for application in robot operating system, described thing
Part list comprises the multi-modal incoming event of interactive class, OS operating system class event and composite class event.
According to one embodiment of present invention, close in the method for application program in robot operating system, use
Include that the user view from user, the application program from application program are intended to the intention of closedown application program
It is intended to operating system OS from operating system.
According to one embodiment of present invention, close in the method for application program at robot operating system:
If being intended that user view in order to close application program, then know according to the multi-modal input information of user
Do not go out the intention of user, the application relevant to close incoming event multi-modal to interactive class；
If be intended to, then according to self-defining automatic triggering machine in order to close the application program that is intended that of application program
System closes corresponding application when the first particular event occurs；
If be intended to, then according to self-defining automatic triggering machine in order to close the operating system that is intended that of application program
Make when the second particular event occurs, close corresponding application.
According to one embodiment of present invention, close in the method for application program in robot operating system:
The event of the intention with separate sources has different priority level attributes；
When closing application program appearance conflict according to described intention, determine according to the priority level that various events are corresponding
The fixed application program whether closing correspondence.
According to another aspect of the present invention, one is additionally provided for closing application in robot operating system
The device of program, described device includes:
Event input receiver module, it inputs in order to the triggering receiving one or more particular event, described specific
Event is contained in the list of thing with polytype event；
Event recognition module, it is in order to compare the event class corresponding to particular event described in described list of thing identification
Type and intention；
Closing application program module, it is in order to the application program corresponding with being intended to closedown based on event type.
According to one embodiment of present invention, in the device for closing application in robot operating system,
Described list of thing comprises the multi-modal incoming event of interactive class, OS operating system class event and composite class event.
According to one embodiment of present invention, close in the device of application program in robot operating system, use
Include that the user view from user, the application program from application program are intended to the intention of closedown application program
It is intended to operating system OS from operating system.
According to one embodiment of present invention, at the device for closing application program in robot operating system
In:
If being intended that user view in order to close application program, then know according to the multi-modal input information of user
Do not go out the intention of user, the application relevant to close incoming event multi-modal to interactive class；
If be intended to, then according to self-defining automatic triggering machine in order to close the application program that is intended that of application program
System closes corresponding application when the first particular event occurs；
If be intended to, then according to self-defining automatic triggering machine in order to close the operating system that is intended that of application program
Make when the second particular event occurs, close corresponding application.
According to one embodiment of present invention, at the device for closing application program in robot operating system
In:
The event of the intention with separate sources has different priority level attributes；
When closing application program appearance conflict according to described intention, determine according to the priority level that various events are corresponding
The fixed application program whether closing correspondence.
The method according to the invention and device, intelligent robot operating system can accept the input of various ways and come
Close relevant application, thus realize the mutual of robot and user.Additionally, be mounted with the intelligence of various sensor
Energy robot cuts out application not only by the mode of multi-modal input with alternative events, it is also possible to by behaviour
Make the particular event defined in system to close related application, or by the specific thing of justice automatically during exploitation application
Part closes related application.
Other features and advantages of the present invention will illustrate in the following description, and, partly from description
In become apparent, or by implement the present invention and understand.The purpose of the present invention and other advantages can be passed through
Structure specifically noted in description, claims and accompanying drawing realizes and obtains.
Accompanying drawing explanation
Accompanying drawing is for providing a further understanding of the present invention, and constitutes a part for description, with the present invention
Embodiment be provided commonly for explain the present invention, be not intended that limitation of the present invention.In the accompanying drawings:
Fig. 1 shows that the method according to the invention is in order to close the method flow diagram of application by the way of event；
Fig. 2 shows the intention block diagram being triggered application in an operating system by event；
Fig. 3 shows the classification of the event in order to close application according to the present invention；And
Fig. 4 shows the structured flowchart of the device in order to close application according to an embodiment of the invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, the present invention is implemented
Example is described in further detail.
As it is shown in figure 1, which show according to an embodiment of the invention in order to close by the way of event
The method flow diagram of application.
In FIG, method starts from step S101.In this step, intelligent robot operating system receives spy
Determine the input of event.These particular events are included in a list of thing.According in the list of thing of the present invention
Define the event defined inside the most eurypalynous event, such as user's interactive class event, operating system or open
The event of definition when sending out application APP.After these events receive, it is both placed in having what such as FIFO was queued up
In queue.In queuing, these events wait that other events are identified and process.
It follows that in step s 102, identify event type corresponding to particular event and intention.Due to this
Bright event type needs in view of multiple situation, i.e. has the multi-modal interactive needs inputted, has again operation system
The needs that during system each application call internal, parameter is transmitted mutually, it is also possible to have application program to make by oneself when research and development
Certain class particular event of justice is to close the needs of self.It is intended to, is and to reach certain mutual needs (e.g.,
Start certain application) attempt or plan or instruction, it can come from user, robot operating system itself,
It can be that set form is defined with resolved, it is also possible to for natural language definition with identified.Therefore,
In the present invention, need which kind of the type identifying the event being queued in first belongs to, thus according to such
Type determines to exit which application.
Additionally, for the application accurately determining out correspondence, when event occurs, in addition it is also necessary to determine whether out
Trigger the intention of this event.Such as, the voice sent according to user or the gesture made judge robot needs
Open photograph application program.This it is intended that from user's.Also having a kind of situation is to close the event of application
Intention come from operating system itself.Such as, when dancing application is opened, can apply from trend playback of songs
Send message or event closes playback of songs function.In the case of another kind, it is also possible to designing and developing dancing
During application, call audio playing function automatically according to sending of a certain specific action.
Finally, in step s 103, based on the application program that event type is corresponding with being intended to closedown.
According to one embodiment of present invention, close in the method for application program in robot operating system, use
Include that the user view from user, the application program from application program are intended to the intention of closedown application program
It is intended to operating system OS from operating system.
If being intended that user view in order to close application program, then know according to the multi-modal input information of user
Do not go out the intention of user, the application relevant to close incoming event multi-modal to interactive class；If should in order to close
It is intended to the application program that is intended that of program, then goes out in the first particular event according to self-defining automatic trigger mechanism
The application that current closedown is corresponding；If be intended in order to close the operating system that is intended that of application program, then basis
Self-defining automatic trigger mechanism closes corresponding application when the second particular event occurs.
It addition, close in robot operating system in the method for application program, there is the intention of separate sources
Event has different priority level attributes；
When closing application program appearance conflict according to above-mentioned intention, according to the priority level that various events are corresponding
Decide whether to close corresponding application program.
Above-mentioned the method according to the invention actually make use of the event in operating system to trigger and closes application
Principle.See Fig. 2, in an operating system, its by the way of message queue by the input of exterior I/O device
The application program of correspondence is sent to by the way of event is transmitted.In message queue, it is generally compliant with FIFO
Rule event 1, event 2, event 3 are ranked.I.e. first event is first identified and is located
Reason.Certainly, occur in several events simultaneously, need according to whose first identified place is certain priority level judge
Reason.When a collision occurs, such as one is intended to close application, and another event is intended to close application, the most also
Can determine according to priority level.
Here, event is exactly the message of system level in fact.Broadly, a usual object is to another
The request (Request) of object is exactly a piece of news.And what event was issued by system often, via operation
System arrives application program and processes, and is the message of " reversely ".When user to interact with an application program
Time, seemingly user and application direct interaction.It is true that when processing, user is elder generation and operating system
OS is mutual.Such as, user need to want first and hardware mutual (tap keyboard, click on mouse, touch screen, other
Input equipment or sensor device), and hardware sends and interrupts to driver, the most just arrives software processes layer.
Hardware now " interrupts " " event " being converted into defined in software.
The present invention, except outside interactive input carries out the response of operating system as a kind of event, also will
It is relevant to call that the message that other modules of operating system self or application send over also serves as a kind of particular event
Application.In a preferred embodiment, the various APP of intelligent robot apply when exploitation, it is also possible to
The event of more pre-defined closedowns self.
Therefore, in the present invention, list of thing as above mainly comprises the multi-modal incoming event of interactive class,
OS operating system class event and composite class event.As it is shown on figure 3, which show dividing of above-mentioned a few class event
Class and corresponding application APP to be closed.
Close the event of application with outside interactive input, i.e. interactive class event, it is also by device side pair
The interactive object event that such as user, object are excited.The event bag closing application caused because of interactive information change
Include but be not limited to following event:
User language event, system is according to the language of user, it is judged that the intention of user, exits user and wants to exit out
Application.The technology such as speech recognition, semantics recognition, intention assessment can be used here according to needs.
Image event, uses the image event that image recognition technology recognizes according to equipment, thus triggers certain and answer
With.
Contact event, the event that i.e. user's limbs contact with equipment, thus trigger certain application.
Time-event, is in the event triggering application-specific APP sometime.
Network event, is the event triggering application-specific APP when getting certain particular network information.
Other Sensor Events, such as infrared, gyroscope, ultrasound wave, position etc., reach according to the data of sensor
During to certain point, trigger and apply APP accordingly, etc..
Certainly, according to the present invention, in addition to above-mentioned event, may also include following conventional event:
Alternative events on touch screen, the clicking operation i.e. touched on screen exits APP, certainly touches on screen
Also include sliding, referring to that touch-control etc. exits the event of APP more.
Use the alternative events of mouse, the equipment of the use mouse control based on computer, click on mousebutton and move back
Go out to apply the event of APP.
Key-press event, user pushes button backed off after random application APP, etc..
OS OS Events is the event excited by system.The pass that this event is mainly determined by system convention
Close the event of application.These events include but not limited to:
Application A PP state event.Such as, when certain APP state changes, will be triggered another
The closedown of individual application APP.
The security incident of operating system OS.Such as, when judging security of system problem it may happen that time, can cause close
Close certain application, such as the scanning application of new file virus.
Operating system OS run case.Systems operational mechanism needs to close certain app.Such as startup self-detection, etc.
Deng.
The 3rd i.e. combination event of class event.Combination event refer to n event occur simultaneously or n event by
Appointment order occurs or in n event, arbitrarily m event occurs.Such as, design when combinations thereof event is sent out
Time raw, i.e. trigger certain application-specific APP and close.If image recognition is to stranger, and current location is in family,
Now can trigger alert applications.
According to the present invention, trigger the intention of application and include following several types:
A. user view.The most accurate user view, clicks certain app figure on the touchscreen such as user
Mark, the most accurate user view, but be also user view after being intended to analyze, table as oral in user
Reach the wish feeling like doing something.This broadly falls into the intention of user, is in other words that user requires to exit app
's.
B. application program is intended to.This is the automatic trigger mechanism of application program developer definition.When particular event is sent out
The when of raw, this application will be triggered closedown.This event had both included single incident, also included combination event.
C. operating system is intended to.This is the automatic trigger mechanism of operating system developer definition.When particular event is sent out
The when of raw, application-specific will be triggered closedown.This event had the most both included single incident, also included combination
Event.
Three of the above is intended to defining inconsistent when there will be conflict, the most just according to priority the most from high to low
Order, come whether decision-making should close this application APP.
It should be strongly noted that the present invention method describe realize in computer systems.This calculating
Machine system such as can be arranged in the control core processor of robot.Such as, method described herein is permissible
Being embodied as can be to control the software that logic performs, and it is performed by the CPU in robot control system.Herein
Described function can be implemented as the programmed instruction set being stored in non-transitory tangible computer computer-readable recording medium.
When implemented in this fashion, this computer program includes one group of instruction, when the instruction of this group is run by computer
It promotes the method that computer performs to implement above-mentioned functions.FPGA can temporarily or permanently be arranged on
In non-transitory tangible computer computer-readable recording medium, such as ROM chip, computer storage, disk or
Other storage mediums.In addition to realizing with software, logic as herein described may utilize discrete parts, integrated
Circuit and programmable logic device (such as, field programmable gate array (FPGA) or microprocessor) knot
Close the FPGA used, or include that any other equipment of they combination in any embodies.All this type of
Within embodiment is intended to fall under the scope of the present invention.
Fig. 4 shows the device 400 for closing application program in robot operating system according to the present invention
Structured flowchart.As shown in Figure 4, device 400 includes: event input receiver module 401, event recognition mould
Block 402, closing application program module 403.
Wherein, event input receiver module 401 its in order to receive the input of one or more particular event.According to
The present invention, these particular events are contained in the list of thing with polytype event.Event input receives mould
Block 401 can receive from external equipment such as sensing equipment, semantics recognition module, the input signal of I/O equipment,
And be saved in queue as event and to rank.Additionally, event input receiver module 401 can also connect
Receive from the message (the first particular event) of internal system or time application program is developed self-defining second special
Determine event, in order to trigger corresponding application, or transmit important data.
Event recognition module 402 is in order to identify the event type corresponding to described particular event and intention.Such as Fig. 4
Shown in, the event identified when event recognition module 402 is multiple event, and when may be from different intention,
Also need to use conflict judge module 404 to judge, see whether these events exist conflict.Such as, same
Moment occurs in that when calling two different application, and the two application can not perform simultaneously, merit of such as taking pictures
Energy and camera function, then conflict judge module 404 will draw and there is conflict in current event.
In this case, the result that conflict judge module 404 will appear from conflicting sends priority decisions module to
405.In priority decisions module 405, the priority level attribute according to event decides whether to close this event
Corresponding application.The priority level such as taken a picture is higher than shooting, when the two requirements, event occurs the most simultaneously,
Priority decisions module will can preferentially close photograph application.
Closing application program module 403 is in order to the application program corresponding with being intended to closedown based on event type.
The user view from user, application journey from application program is included in order to close the intention of application program
Sequence intention and operating system OS from operating system are intended to.
If being intended that user view in order to close application program, then know according to the multi-modal input information of user
Do not go out the intention of user, the application relevant to close incoming event multi-modal to interactive class；If should in order to close
It is intended to the application program that is intended that of program, then goes out in the first particular event according to self-defining automatic trigger mechanism
The application that current closedown is corresponding；If be intended in order to close the operating system that is intended that of application program, then basis
Self-defining automatic trigger mechanism, when the second particular event occurs, closes corresponding application.
It should be understood that disclosed embodiment of this invention is not limited to ad hoc structure disclosed herein, process
Step or material, and the equivalent that should extend to these features that those of ordinary skill in the related art are understood is replaced
Generation.It is to be further understood that term as used herein is only used for describing the purpose of specific embodiment, and and unexpectedly
Taste restriction.
" embodiment " mentioned in description or " embodiment " mean the specific spy in conjunction with the embodiments described
Levy, structure or characteristic are included at least one embodiment of the present invention.Therefore, description various places throughout
The phrase " embodiment " or " embodiment " that occur might not refer both to same embodiment.
While it is disclosed that embodiment as above, but described content is only to facilitate understand the present invention
And the embodiment used, it is not limited to the present invention.Technology people in any the technical field of the invention
Member, on the premise of without departing from spirit and scope disclosed in this invention, can be in the formal and details implemented
On make any amendment and change, but the scope of patent protection of the present invention, still must be with appending claims institute
Define in the range of standard.
Claims (10)
1. the method being used for closing application program in robot operating system, it is characterised in that described
Method comprises the following steps:
Receiving the triggering input of one or more particular event, described particular event is contained in has polytype thing
In the list of thing of part；
Compare described in described list of thing identification the event type corresponding to particular event and intention；
Based on the application program that event type is corresponding with being intended to closedown.
2. the method closing application in robot operating system as claimed in claim 1, it is characterised in that
Described list of thing comprises the multi-modal incoming event of interactive class, OS operating system class event and composite class event.
3. the method closing application program in robot operating system as claimed in claim 2, its feature
It is, includes the user view from user, the application from application program in order to close the intention of application program
Program intent and operating system OS from operating system are intended to.
4. the method closing application program at robot operating system as according to any one of claim 1-3,
It is characterized in that:
If being intended that user view in order to close application program, then know according to the multi-modal input information of user
Do not go out the intention of user, the application relevant to close incoming event multi-modal to interactive class；
If be intended to, then according to self-defining automatic triggering machine in order to close the application program that is intended that of application program
System closes corresponding application when the first particular event occurs；
If be intended to, then according to self-defining automatic triggering machine in order to close the operating system that is intended that of application program
Make when the second particular event occurs, close corresponding application.
5. the method closing application program in robot operating system as claimed in claim 4, its feature
It is:
The event of the intention with separate sources has different priority level attributes；
When closing application program appearance conflict according to described intention, determine according to the priority level that various events are corresponding
The fixed application program whether closing correspondence.
6. the device being used for closing application program in robot operating system, it is characterised in that described
Device includes:
Event input receiver module, it inputs in order to the triggering receiving one or more particular event, described specific
Event is contained in the list of thing with polytype event；
Event recognition module, it is in order to compare the event class corresponding to particular event described in described list of thing identification
Type and intention；
Closing application program module, it is in order to the application program corresponding with being intended to closedown based on event type.
7. the device for closing application in robot operating system as claimed in claim 6, its feature
It is, described list of thing comprises the multi-modal incoming event of interactive class, OS operating system class event and combination
Class event.
8. the device for closing application program in robot operating system as claimed in claim 7, its
It is characterised by, includes the user view from user, from application program in order to close the intention of application program
Application program intention and operating system OS from operating system are intended to.
9. the dress for closing application program at robot operating system as according to any one of claim 6-8
Put, it is characterised in that:
If being intended that user view in order to close application program, then know according to the multi-modal input information of user
Do not go out the intention of user, the application relevant to close incoming event multi-modal to interactive class；
If be intended to, then according to self-defining automatic triggering machine in order to close the application program that is intended that of application program
System closes corresponding application when the first particular event occurs；
If be intended to, then according to self-defining automatic triggering machine in order to close the operating system that is intended that of application program
Make when the second particular event occurs, close corresponding application.
10. the device for closing application program in robot operating system as claimed in claim 9, its
It is characterised by:
The event of the intention with separate sources has different priority level attributes；
When closing application program appearance conflict according to described intention, determine according to the priority level that various events are corresponding
The fixed application program whether closing correspondence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610462893.0A CN106020850A (en) | 2016-06-23 | 2016-06-23 | Method and device for closing applications in operation system of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610462893.0A CN106020850A (en) | 2016-06-23 | 2016-06-23 | Method and device for closing applications in operation system of robot |
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| CN106020850A true CN106020850A (en) | 2016-10-12 |
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| CN201610462893.0A Pending CN106020850A (en) | 2016-06-23 | 2016-06-23 | Method and device for closing applications in operation system of robot |
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| CN107066288A (en) * | 2017-01-17 | 2017-08-18 | 北京光年无限科技有限公司 | A kind of multi-modal exchange method and device for intelligent robot |
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