CN106126342A - Multiprogram operation method and operating system towards intelligent robot - Google Patents
Multiprogram operation method and operating system towards intelligent robot Download PDFInfo
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- CN106126342A CN106126342A CN201610461603.0A CN201610461603A CN106126342A CN 106126342 A CN106126342 A CN 106126342A CN 201610461603 A CN201610461603 A CN 201610461603A CN 106126342 A CN106126342 A CN 106126342A
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- 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
- G06F9/46—Multiprogramming arrangements
- G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
- G06F9/5005—Allocation of resources, e.g. of the central processing unit [CPU] to service a request
- G06F9/5027—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals
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- 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
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- G06F9/48—Program initiating; Program switching, e.g. by interrupt
- G06F9/4806—Task transfer initiation or dispatching
- G06F9/4812—Task transfer initiation or dispatching by interrupt, e.g. masked
- G06F9/4818—Priority circuits therefor
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- G06N3/008—Artificial life, i.e. computing arrangements simulating life based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
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Abstract
The invention discloses a kind of multiprogram operation method towards intelligent robot and operating system.The method includes the multiple as ready line programs in read operation system；Judge whether there is hardware conflicts between each as ready line program；If it is, run each as ready line program based on default resource management mechanism, so that running when there is the as ready line program difference of hardware conflicts.The intelligent robot of the present invention has been internally embedded operating system, application present invention can be implemented in the case of not producing hardware conflicts, make multiple programs in operating system to run simultaneously, thus contribute to the multi-modal interactive output of intelligent robot, substantially increase the performance of intelligent robot, increase the experience of user simultaneously and use viscosity.
Description
Technical field
The present invention relates to intelligent robot technology field, particularly relate to a kind of multiprogram operation side towards intelligent robot
Method, further relates to a kind of operating system towards intelligent robot.
Background technology
Intelligent robot is the aggregation of a multiple new and high technology, and it has merged machinery, electronics, sensor, computer
The multi-disciplinary knowledge such as hardware, software, artificial intelligence, relate to the technology of current many Disciplinary Frontiers.
At present, intelligent robot is not yet provided with operating system.When intelligent robot performs multiple instruction, take same
Two or more instructions of outut device can clash, if processed not in time, can have a strong impact on output effect and use
Family is experienced.
It would therefore be highly desirable to develop a kind of multiprogram operation method towards the intelligent robot being embedded with operating system.
Summary of the invention
The technical problem to be solved is: intelligent robot of the prior art is not yet provided with operating system,
And when it runs multiple instruction, it is impossible to process the conflict between the multiple instructions taking same outut device in time, thus
Output effect and Consumer's Experience are had a strong impact on.
In order to solve above-mentioned technical problem, the invention provides a kind of multiprogram operation method towards intelligent robot and
Operating system.
According to an aspect of the invention, it is provided a kind of multiprogram operation method towards intelligent robot, described intelligence
Can be provided with operating system by robot, described method includes:
Read the multiple as ready line programs in described operating system；
Judge whether there is hardware conflicts between each as ready line program；
When judging to exist hardware conflicts, run each described as ready stroke based on default resource management mechanism
Sequence, so that running when there is the as ready line program difference of hardware conflicts.
Preferably, it is judged that between each as ready line program, whether there is hardware conflicts, including:
Obtain the hardware resource occupied information of each as ready line program；
According to acquired hardware resource occupied information, it may be judged whether exist at least two as ready line program take same firmly
The situation of part resource；
In the case of judging that there is at least two as ready line program takies same hardware resource, determine and there is hardware punching
Prominent.
Preferably, it is judged that between each as ready line program, whether there is hardware conflicts, including:
Run each as ready line program simultaneously；
Judge whether that at least two as ready line program calls the situation of same hardware resource simultaneously；
In the case of judging that there is at least two as ready line program calls same hardware resource simultaneously, determine that existence is hard
Part conflicts.
Preferably, each described as ready line program is run based on default resource management mechanism, so that there is hardware
Run during the as ready line program difference conflicted, including:
The as ready line program that there is hardware conflicts is identified；
The as ready line program that directly operation does not identifies；
Run identified as ready line program, and make to run during the as ready line program difference that there is hardware conflicts.
Preferably, run identified as ready line program, and make to exist the as ready line program difference luck of hardware conflicts
OK, including:
Priority routine is picked out from identified as ready line program；
Run this priority routine, and:
Other identified as ready line programs in addition to described priority routine out of service；Or
Operation suspension other identified as ready line programs in addition to described priority routine, until described priority routine is transported
Till when row is complete；Or
There is not the identified as ready line program of hardware conflicts in operation and described priority routine, suspend remaining through mark simultaneously
The as ready line program known, during until described priority routine runs complete.
According to another aspect of the present invention, it is provided that a kind of operating system towards intelligent robot, comprising:
Read module, is set to the multiple as ready line programs reading in described operating system；
Judge module, is set to judge whether there is hardware conflicts between each as ready line program；
Control module, is set to when described judge module judges to exist hardware conflicts, based on default resource management
Mechanism runs each described as ready line program, so that running when there is the as ready line program difference of hardware conflicts.
Preferably, described judge module includes:
Hardware resource occupied information acquiring unit, is set to obtain the hardware resource occupied information of each as ready line program；
First judging unit, is set to according to acquired hardware resource occupied information, it may be judged whether there is at least two
As ready line program takies the situation of same hardware resource；
First determines unit, is set to judge that there is at least two as ready line program takies at described first judging unit
In the case of same hardware resource, determine and there is hardware conflicts.
Preferably, described judge module includes:
First control unit, is set to run each as ready line program simultaneously；
Second judging unit, is set to judge whether that at least two as ready line program calls same hardware resource simultaneously
Situation；
Second determines unit, is set to judge to there is at least two as ready line program simultaneously at described second judging unit
In the case of calling same hardware resource, determine and there is hardware conflicts.
Preferably, described control module includes:
Mark unit, is set to the as ready line program to there is hardware conflicts and is identified；
Second control unit, is set to directly run the as ready line program not identified；
3rd control unit, is set to run identified as ready line program, and makes to exist the as ready stroke of hardware conflicts
Run during sequence difference.
Preferably, described 3rd control unit includes:
Select subelement, be set to pick out priority routine from identified as ready line program；
First controls subelement, is set to run this priority routine, and:
Second controls subelement, is set to:
Other identified as ready line programs in addition to described priority routine out of service；Or
Operation suspension other identified as ready line programs in addition to described priority routine, until described priority routine is transported
Till when row is complete；Or
There is not the identified as ready line program of hardware conflicts in operation and described priority routine, suspend remaining through mark simultaneously
The as ready line program known, during until described priority routine runs complete.
Compared with prior art, the one or more embodiments in such scheme can have the advantage that or useful effect
Really:
The intelligent robot of the present invention has been internally embedded robot operating system, based on this operating system, intelligent robot
First determine whether whether there is hardware conflicts between as ready line program, in the case of determining and there is hardware conflicts, based on default
Resource management mechanism runs each as ready line program, hardware conflicts occurs during to avoid operation program.It can be seen that application is originally
The multiprogram operation method towards intelligent robot described in embodiment, it is possible to achieve in the case of not producing hardware conflicts,
Make multiple programs in operating system to run simultaneously, thus contribute to the multi-modal interactive output of intelligent robot, be greatly improved
The performance of intelligent robot, increases the experience of user simultaneously and uses viscosity.
Other features and advantages of the present invention will illustrate in the following description, and partly become from description
It is clear that or understand by implementing the present invention.The purpose of the present invention and other advantages can be by wanting in description, right
The structure asking specifically noted in book 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 reality of the present invention
Execute example to be provided commonly for explaining the present invention, be not intended that limitation of the present invention.In the accompanying drawings:
Fig. 1 shows the embodiment of the present invention schematic flow sheet towards the multiprogram operation method of intelligent robot；
Fig. 2 shows the method that judges in the embodiment of the present invention whether to there is hardware conflicts between each as ready line program
A kind of schematic flow sheet；
Fig. 3 shows the method that judges in the embodiment of the present invention whether to there is hardware conflicts between each as ready line program
Another kind of schematic flow sheet；
Fig. 4 shows the side running each as ready line program in the embodiment of the present invention based on default resource management mechanism
The schematic flow sheet of method；
Fig. 5 shows and runs identified as ready line program in the embodiment of the present invention, and makes to exist the as ready of hardware conflicts
The method flow schematic diagram run during line program difference；
Fig. 6 shows the embodiment of the present invention structural representation towards the operating system of intelligent robot；
Fig. 7 shows a kind of structural representation of judge module in the embodiment of the present invention；
Fig. 8 shows the another kind of structural representation of judge module in the embodiment of the present invention；
Fig. 9 shows the structural representation of control module in the embodiment of the present invention；And
Figure 10 shows the structural representation of the 3rd control unit in the embodiment of the present invention.
Detailed description of the invention
Describe embodiments of the present invention in detail below with reference to drawings and Examples, whereby how the present invention is applied
Technological means solves technical problem, and the process that realizes reaching technique effect can fully understand and implement according to this.Need explanation
As long as not constituting conflict, each embodiment in the present invention and each feature in each embodiment can be combined with each other,
The technical scheme formed is all within protection scope of the present invention.
All the time, the screen graph of a correspondenceization operation interface of mobile phone and computer is the form that user is mutual for many years.
Under this form, as long as performance is got caught up in, almost all of program can be run the most simultaneously.But along with intelligence
Equipment is more and more developed, and people catch sight of increasing equipment cannot apply mechanically original operating system
Interactive mode.The screen of a lot of smart machines is in many outut devices, more has some equipment not have screen.Such as
The such smart machine of robot, unmanned plane, limbs, propeller etc. are the outut devices that it is main, and screen becomes auxiliary
Outut device.This causes the application program (such as robot walking and dancing, robot speaks and sings) cannot be as original
The most parallel.
It can be seen that existing intelligent robot is not yet provided with operating system.Perform many at existing intelligent robot
During individual instruction (especially exporting multi-modal interactive information at intelligent robot), take the two of same outut device (hardware resource)
Individual or two or more instruction can clash, if processed not in time, can have a strong impact on output effect and Consumer's Experience.
For solving above-mentioned technical problem, embodiments provide a kind of towards the intelligent machine being embedded with operating system
The multiprogram operation method of people.
Embodiment one
In the present embodiment, intelligent robot is provided with robot operating system.Robot operating system towards developer,
Developer utilizes robot operating system can allow robot human thinking's ability, emotional ability and learning capacity etc.,
Robot operating system provides object manipulator function to set and the instrument of research and development for developer.
Fig. 1 shows the embodiment of the present invention schematic flow sheet towards the multiprogram operation method of intelligent robot.Such as Fig. 1
Shown in, the embodiment of the present invention, towards the multiprogram operation method of intelligent robot, mainly includes that step 101 is to step 104.
In a step 101, the multiple as ready line programs in read operation system.
In a step 102, it is judged that between each as ready line program, whether there is hardware conflicts.
In step 103, when judging to exist hardware conflicts, run each based on default resource management mechanism and treat
Operation program, so that running when there is the as ready line program difference of hardware conflicts.
At step 104, when judging to there is not hardware conflicts, run all of as ready line program the most simultaneously.
Specifically, intelligent robot reads the as ready line program in its operating system in real time, and judges these as ready strokes
Whether hardware conflicts is there is between sequence.It is to say, intelligent robot judges any two program in these as ready line programs
Between whether be likely to occur hardware conflicts.Here, hardware conflicts is occurred to refer to operation the two program simultaneously between program
After, the two program needs to take same hardware output devices simultaneously, thus causes program to run the problem such as unsuccessfully.If intelligence
Can judge to exist in as ready line program and there is hardware conflicts between at least two program by robot, then intelligent robot can be based on
The resource management mechanism preset runs each as ready line program, so that there is the as ready line program difference luck of hardware conflicts
OK.If intelligent robot judges the most not exist between any two program in as ready line program hardware conflicts, then the most same
Shi Yunhang all of as ready line program.
It can be seen that the present embodiment is to run, according to program, the outut device (hardware resource) taken to determine whether to same
The multiple program of Shi Yunhang.In detail, on the one hand, if certain program is not take up outut device, then will not have with other programs
The conflict of outut device, then can run this program the most simultaneously.Such as robot limit singing limit downloads movies.On the other hand,
Can take one or more outut device in certain program, other programs also can take the situation of one or more outut device
Under: if any two program is all not take up some outut device, then these programs can run (such as robot limit simultaneously
Dance in singing limit)；If some program will not take some outut device simultaneously, other program then can take certain simultaneously
One outut device, then the program that will not take some outut device can run simultaneously, and other can take some simultaneously
The program clash handle to be done of outut device, it is impossible to allow several program simultaneously call an outut device.
In the present embodiment, intelligent robot has been internally embedded robot operating system, based on this operating system, intelligent machine
Device people first determines whether whether there is hardware conflicts between as ready line program, in the case of determining and there is hardware conflicts, based in advance
If resource management mechanism run each as ready line program, during to avoid operation program, hardware conflicts occurs.It can be seen that should
With the multiprogram operation method towards intelligent robot described in the present embodiment, it is possible to achieve in the situation not producing hardware conflicts
Under, make multiple programs in operating system to run simultaneously, thus contribute to the multi-modal interactive output of intelligent robot, significantly carry
The high performance of intelligent robot, increases the experience of user simultaneously and uses viscosity.
Embodiment two
Present embodiments provide a kind of optimization method of the determination methods of hardware conflicts in embodiment one.
Fig. 2 shows the method that judges in the embodiment of the present invention whether to there is hardware conflicts between each as ready line program
A kind of schematic flow sheet.As in figure 2 it is shown, the embodiment of the present invention judges whether there is hardware conflicts between each as ready line program
Method, mainly includes that step 201 is to step 204.
In step 201, the hardware resource occupied information of each as ready line program is obtained.
In step 202., according to acquired hardware resource occupied information, it may be judged whether there is at least two as ready stroke
Sequence takies the situation of same hardware resource.
In step 203, in the case of judging that there is at least two as ready line program takies same hardware resource, really
Surely there is hardware conflicts.
In step 204, in the case of judging that any two as ready line program is all not take up same hardware resource, really
Determine to there is not hardware conflicts.
Specifically, if several program prepare start at synchronization simultaneously, or had program run in again
Start new program, then, before as ready line program runs, operating system is just from the hardware resource occupied information arranged in advance
The outut device that middle pre-read as ready line program may be used, and judge as ready line program based on this hardware resource occupied information
Whether just can run if do not conflicted with other program generation hardware conflicts, if run when having conflict the most different.
In the present embodiment, before running as ready line program, the hardware for each program arranged in advance is utilized to provide
Source occupied information, whether there is hardware conflicts between determining program.It can be seen that the method that the present embodiment judges hardware conflicts
Simple effectively accuracy is high, is conducive to improving the performance of intelligent robot.
Embodiment three
Present embodiments provide the another kind of optimization method of the determination methods of hardware conflicts in embodiment one.
Fig. 3 shows the method that judges in the embodiment of the present invention whether to there is hardware conflicts between each as ready line program
Another kind of schematic flow sheet.As it is shown on figure 3, the present embodiment judges whether there is hardware conflicts between each as ready line program
Method, mainly includes that step 301 is to step 304.
In step 301, run each as ready line program simultaneously.
In step 302, it may be judged whether there is at least two as ready line program and call the situation of same hardware resource simultaneously.
In step 303, judging that there is at least two as ready line program calls the situation of same hardware resource simultaneously
Under, determine and there is hardware conflicts.
In step 304, call same hardware resource between any two as ready line program judging the most simultaneously
In the case of, determine and there is not hardware conflicts.
The present embodiment judges whether hardware conflicts after running each as ready line program again.Specifically, intelligence
Robot did not made a decision before as ready line program runs, but directly initiated program, and after startup, each program is entered by own logic
OK.Operating system whether hardware conflicts occurs between determining program by the situation of routine call outut device after running.As
Fruit does not occurs hardware conflicts to continue to run each program.If it occur that hardware conflicts, then stop or suspending there is hardware conflicts
Program.
The determination methods of the hardware conflicts of application the present embodiment, it is not necessary to arrange hardware resource occupied information and i.e. can determine whether to exist
The program of hardware conflicts, method is the most effective.It addition, the present embodiment also can be avoided leading due to hardware resource occupied information mistake
The erroneous judgement to hardware conflicts caused.
Embodiment four
On the basis of the present embodiment any one embodiment in embodiment one to embodiment three, to based on default money
Source control mechanism is run the method for each as ready line program and is done optimization further.
Fig. 4 shows the side running each as ready line program in the embodiment of the present invention based on default resource management mechanism
The schematic flow sheet of method.As shown in Figure 4, the embodiment of the present invention runs each as ready stroke based on default resource management mechanism
Sequence, so that the method run when there is the as ready line program difference of hardware conflicts, mainly includes that step 401 is to step 403.
In step 401, the as ready line program that there is hardware conflicts is identified.
In step 402, the as ready line program that direct operation does not identifies.
In step 403, run identified as ready line program, and when making the as ready line program difference that there is hardware conflicts
Run.
In the present invention one preferred embodiment, the method running identified as ready line program is done further excellent
Change.As it is shown in figure 5, the method running identified as ready line program is mainly included that step 501 is to step 503.
In step 501, from identified as ready line program, priority routine is picked out.
In step 502, this priority routine is run.
In step 503, other identified as ready line programs in addition to priority routine out of service；Or suspend fortune
Row other identified as ready line programs in addition to priority routine, during until priority routine runs complete；Or run
There is not the identified as ready line program of hardware conflicts with priority routine, suspend remaining identified as ready line program simultaneously,
During until priority routine runs complete.
Present embodiments provide a kind of operation program for the treatment of in the case of there is hardware conflicts and carry out the side of clash handle
Method.In the present embodiment, it is first sorted out being not related to the program of hardware conflicts, preferential these programs of operation.Then for relating to
The program of hardware conflicts, the program picking out priority level from these programs the highest is run, for remaining program, can
By use out of service, operation suspension, part to run and this priority routine without the program of hardware conflicts in the way of process.
Specifically, include following several for relating to the conflict processing method of the program of hardware conflicts:
(1) the preferential program (priority routine) running one of them request outut device, stops other program.
(2) the preferential program (priority routine) running one of them request outut device, suspends other program, treats this
The program of request outut device has been run, and continues to run with other program.
(3) the preferential program (priority routine) running one of them request outut device, other program outut devices are conflicted
Part of pause, other parts continue to run with.
(4) operating system intelligent decision, selects the operating system level that gives priority to high from several programs clashed
Program (priority routine), comprehensive descision is to do program to suspend also be off or only suspend conflict part simultaneously.This method
Be to (1st), (2), (3) plant the integrated use of method.Operating system degree of intelligence is required the highest by this situation, but may be used
Lean on.Such as, the when of robot walking, allow suddenly its both feet stop going dancing, then robot may be caused to fall down, it is necessary to allow machine
Device people first comes to a complete stop and restarts dancing.
The operation program for the treatment of in the case of there is hardware conflicts that application the present embodiment provides carries out the side of clash handle
Method, intelligent robot can preferentially run the program being not related to hardware conflicts, and the program that preferential running priority rank is higher, it is ensured that
There is the key property of intelligent robot in the case of hardware conflicts, be conducive to improving the experience of user.
Embodiment five
Corresponding to above-described embodiment one to embodiment four, embodiments provide a kind of behaviour towards intelligent robot
Make system.
Fig. 6 shows the embodiment of the present invention structural representation towards the operating system of intelligent robot.As shown in Figure 6,
The embodiment of the present invention mainly includes read module 601, the judge module 602 being sequentially connected towards the operating system of intelligent robot
With control module 603.
Specifically, read module 601, the multiple as ready line programs being set in read operation system.
Judge module 602, is set to judge whether there is hardware conflicts between each as ready line program.
Control module 603, is set to when judge module 602 judges to exist hardware conflicts, based on default resource pipe
Reason mechanism runs each as ready line program, so that running when there is the as ready line program difference of hardware conflicts.
In the present embodiment, intelligent robot has been internally embedded robot operating system, based on this operating system, intelligent machine
Device people first determines whether whether there is hardware conflicts between as ready line program, in the case of determining and there is hardware conflicts, based in advance
If resource management mechanism run each as ready line program, during to avoid operation program, hardware conflicts occurs.It can be seen that should
By the operating system towards intelligent robot described in the present embodiment, it is possible to achieve in the case of not producing hardware conflicts, make
In operating system, multiple programs can be run simultaneously, thus contributes to the multi-modal interactive output of intelligent robot, substantially increases
The performance of intelligent robot, increases the experience of user simultaneously and uses viscosity.
Embodiment six
The structure of judge module 602, on the basis of embodiment five, is further optimized by the present embodiment.
Fig. 7 shows a kind of structural representation of judge module 602 in the embodiment of the present invention.As it is shown in fig. 7, the present invention is real
Execute hardware resource occupied information acquiring unit the 701, first judging unit that judge module 602 in example mainly includes being sequentially connected with
702 and first determine unit 703.
Specifically, hardware resource occupied information acquiring unit 701, it is set to obtain the hardware resource of each as ready line program
Occupied information.
First judging unit 702, is set to according to acquired hardware resource occupied information, it may be judged whether have at least two
Individual as ready line program takies the situation of same hardware resource.
First determines unit 703, is set to judge that there is at least two as ready line program accounts at the first judging unit 702
In the case of same hardware resource, determine and there is hardware conflicts.
In the present embodiment, before running as ready line program, the hardware for each program arranged in advance is utilized to provide
Source occupied information, whether there is hardware conflicts between determining program.It can be seen that the judge module 602 of the present embodiment judges
The method of hardware conflicts is simply effective, and accuracy is high, is conducive to improving the performance of intelligent robot.
Embodiment seven
The structure of judge module 602, on the basis of embodiment five, is further optimized by the present embodiment.
Fig. 8 shows the another kind of structural representation of judge module 602 in the embodiment of the present invention.As shown in Figure 8, the present invention
In embodiment, judge module 602 mainly includes that first control unit the 801, second judging unit 802 and second being sequentially connected with is true
Cell 803.
Specifically, the first control unit 801, it is set to run each as ready line program simultaneously.
Second judging unit 802, is set to judge whether that at least two as ready line program calls same hardware simultaneously
The situation of resource.
Second determines unit 803, is set to judge to there is at least two as ready line program at the second judging unit 802 same
Time call same hardware resource in the case of, determine and there is hardware conflicts.
Application the present embodiment judge module 602, it is not necessary to arrange hardware resource occupied information and i.e. can determine whether to there is hardware conflicts
Program, method is the most effective.It addition, the present embodiment also can avoid causing due to hardware resource occupied information mistake to firmly
The erroneous judgement of part conflict.
Embodiment eight
On the basis of the present embodiment any one embodiment in embodiment four to embodiment seven, to control module 603
Structure do further optimization.
Fig. 9 shows the structural representation of control module 603 in the embodiment of the present invention.As it is shown in figure 9, the present embodiment is controlled
Molding block 603 mainly includes
Mark unit 901, is set to the as ready line program to there is hardware conflicts and is identified.
Second control unit 902, is set to directly run the as ready line program not identified.
3rd control unit 903, is set to run identified as ready line program, and make to exist hardware conflicts wait run
Run during program difference.
Figure 10 shows the structural representation of the 3rd control unit 903 in the embodiment of the present invention.As shown in Figure 10, the present invention
In embodiment, the 3rd control unit 903 mainly includes that the subelement 1001, first of selecting being sequentially connected with controls subelement 1002 and
Second controls subelement 1003.
Specifically, select subelement 1001, be set to pick out priority routine from identified as ready line program.
First controls subelement 1002, is set to run this priority routine.
Second controls subelement 1003, is set to: what other in addition to priority routine out of service were identified waits to run
Program；Or other identified as ready line programs that operation suspension is in addition to priority routine, until priority routine runs complete
Time till；Or operation and priority routine do not exist the identified as ready line program of hardware conflicts, suspend remaining through mark simultaneously
The as ready line program known, during until priority routine runs complete.
Application the present embodiment provides control module 603, treats operation program and rush in the case of there is hardware conflicts
Prominent process, intelligent robot can preferentially run the program being not related to hardware conflicts, and the program that preferential running priority rank is higher,
Ensure that and the key property of intelligent robot in the case of hardware conflicts occurs, be conducive to improving the experience of user.
The concrete refinement of the operation it should be noted that in embodiment five to embodiment eight in modules and unit, can
See above in conjunction with the Fig. 1 to Fig. 5 explanation to the inventive method (referring specifically to embodiment one to embodiment four), the most detailed at this
Carefully repeat.
Those skilled in the art should be understood that each module of the above-mentioned present invention or each step can be with general calculating
Device realizes, and they can concentrate on single calculating device, or is distributed in the network that multiple calculating device is formed
On, alternatively, they can realize with calculating the executable program code of device, it is thus possible to be stored in storage
Device is performed by calculating device, or they are fabricated to respectively each integrated circuit modules, or by many in them
Individual module or step are fabricated to single integrated circuit module and realize.So, the present invention be not restricted to any specific hardware and
Software combines.
While it is disclosed that embodiment as above, but described content is only to facilitate understand the present invention and adopt
Embodiment, be not limited to the present invention.Technical staff in any the technical field of the invention, without departing from this
On the premise of spirit and scope disclosed in invention, in form and any amendment and change can be made in details implement,
But protection scope of the present invention, still must be defined in the range of standard with appending claims.
Claims (10)
1., towards a multiprogram operation method for intelligent robot, described intelligent robot is provided with operating system, its feature
Being, described method includes:
Read the multiple as ready line programs in described operating system；
Judge whether there is hardware conflicts between each as ready line program；
When judging to exist hardware conflicts, run each described as ready line program based on default resource management mechanism, with
Make to run during the as ready line program difference that there is hardware conflicts.
Method the most according to claim 1, it is characterised in that judge whether there is hardware punching between each as ready line program
Prominent, including:
Obtain the hardware resource occupied information of each as ready line program；
According to acquired hardware resource occupied information, it may be judged whether there is at least two as ready line program and take same hardware money
The situation in source；
In the case of judging that there is at least two as ready line program takies same hardware resource, determine and there is hardware conflicts.
Method the most according to claim 1, it is characterised in that judge whether there is hardware punching between each as ready line program
Prominent, including:
Run each as ready line program simultaneously；
Judge whether that at least two as ready line program calls the situation of same hardware resource simultaneously；
Judging that there is at least two as ready line program calls same hardware resource in the case of simultaneously, determine and there is hardware punching
Prominent.
The most according to the method in any one of claims 1 to 3, it is characterised in that come based on default resource management mechanism
Run each described as ready line program, so that running when there is the as ready line program difference of hardware conflicts, including:
The as ready line program that there is hardware conflicts is identified；
The as ready line program that directly operation does not identifies；
Run identified as ready line program, and make to run during the as ready line program difference that there is hardware conflicts.
Method the most according to claim 4, it is characterised in that run identified as ready line program, and make to there is hardware
Run during the as ready line program difference conflicted, including:
Priority routine is picked out from identified as ready line program；
Run this priority routine, and:
Other identified as ready line programs in addition to described priority routine out of service；Or
Operation suspension other identified as ready line programs in addition to described priority routine, until described priority routine has run
Till when finishing；Or
There is not the identified as ready line program of hardware conflicts in operation and described priority routine, suspend remaining identified simultaneously
As ready line program, during until described priority routine runs complete.
6. the operating system towards intelligent robot, it is characterised in that including:
Read module, is set to the multiple as ready line programs reading in described operating system；
Judge module, is set to judge whether there is hardware conflicts between each as ready line program；
Control module, is set to when described judge module judges to exist hardware conflicts, based on default resource management mechanism
Run each described as ready line program, so that running when there is the as ready line program difference of hardware conflicts.
Operating system the most according to claim 6, it is characterised in that described judge module includes:
Hardware resource occupied information acquiring unit, is set to obtain the hardware resource occupied information of each as ready line program；
First judging unit, is set to according to acquired hardware resource occupied information, it may be judged whether there is at least two as ready
Line program takies the situation of same hardware resource；
First determines unit, is set to judge that there is at least two as ready line program takies same at described first judging unit
In the case of hardware resource, determine and there is hardware conflicts.
Operating system the most according to claim 6, it is characterised in that described judge module includes:
First control unit, is set to run each as ready line program simultaneously；
Second judging unit, is set to judge whether the feelings that at least two as ready line program calls same hardware resource simultaneously
Condition；
Second determines unit, is set to judge that there is at least two as ready line program calls simultaneously at described second judging unit
In the case of same hardware resource, determine and there is hardware conflicts.
9. according to the operating system according to any one of claim 6 to 8, it is characterised in that described control module includes:
Mark unit, is set to the as ready line program to there is hardware conflicts and is identified；
Second control unit, is set to directly run the as ready line program not identified；
3rd control unit, is set to run identified as ready line program, and makes to there is the as ready line program of hardware conflicts not
Run simultaneously.
Operating system the most according to claim 9, it is characterised in that described 3rd control unit includes:
Select subelement, be set to pick out priority routine from identified as ready line program；
First controls subelement, is set to run this priority routine, and:
Second controls subelement, is set to:
Other identified as ready line programs in addition to described priority routine out of service；Or
Operation suspension other identified as ready line programs in addition to described priority routine, until described priority routine has run
Till when finishing；Or
There is not the identified as ready line program of hardware conflicts in operation and described priority routine, suspend remaining identified simultaneously
As ready line program, during until described priority routine runs complete.
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