CN114260897A - Authority management method, robot and readable storage medium - Google Patents
Authority management method, robot and readable storage medium Download PDFInfo
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Abstract
The embodiment of the invention relates to the field of artificial intelligence and discloses a permission management method, a robot and a readable storage medium. In the invention, the authority management method comprises the following steps: acquiring an authorized application instruction sent by a first application program, wherein the authorized application instruction comprises information of a controller applied for use; judging whether the resources in the controller applied for use conflict with the resources in the controller currently used after judging that the controller applied for use is different from the controller currently used according to the information of the controller applied for use; and after judging that the resources are not conflicted, giving the control authority of the controller applied for use to the first application program. The authority management method, the robot and the readable storage medium provided by the invention enable the robot to adapt to the requirements of complex scenes.
Description
Technical Field
The embodiment of the invention relates to the field of artificial intelligence, in particular to a permission management method, a robot and a readable storage medium.
Background
With the increasing development of science and technology, the development of the robot control technology structurally goes through a single mechanical arm and a double mechanical arm, enters the stage of a humanoid robot, and functionally goes from a robot with a single function to a service type robot. Typically, one controls a set of joints as a whole with a "Controller", each joint in the set being controlled by an Actuator. In the related art, the scene adaptability of the robot is improved by introducing upper-layer logic control such as a state machine and a behavior tree.
The inventor finds that at least the following problems exist in the prior art: in the control of the service-type humanoid robot, even if upper-layer logic control such as a state machine and a behavior tree is introduced, the requirement of a complex scene cannot be met.
Disclosure of Invention
The embodiment of the invention aims to provide a permission management method, a robot and a readable storage medium, so that the robot can adapt to the requirements of complex scenes.
In order to solve the above technical problem, an embodiment of the present invention provides a rights management method, including: obtaining an authorized application instruction sent by a first application program, wherein the authorized application instruction comprises information of a controller applied for use; judging whether the controller applied for use is the same as the controller currently used or not according to the information of the controller applied for use; judging whether the resources in the controller applying for use conflict with the resources in the controller currently being used after judging that the controller applying for use is different from the controller currently being used; and after judging that the resources in the controller applied for use do not conflict with the resources in the controller currently used, giving the first application program the control authority of the controller applied for use.
Embodiments of the present invention also provide a robot including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of rights management as described above.
Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which when executed by a processor implements the above-mentioned rights management method.
Compared with the prior art, the method and the device have the advantages that the authorized application instruction sent by the first application program is obtained, wherein the authorized application instruction comprises information of a controller applied for use; judging whether the controller applied for use is the same as the controller currently used or not according to the information of the controller applied for use; judging whether the resources in the controller applying for use conflict with the resources in the controller currently being used after judging that the controller applying for use is different from the controller currently being used; after determining that the resources in the controller applying for use do not conflict with the resources in the controller currently being used, the first application program is given the control authority of the controller applying for use, that is, by determining whether the controller applying for use is the same as the controller currently being used (i.e., determining whether the controller applying for use is currently being used, that is, whether the controller is already occupied), and whether the resources in the controller applying for use conflict with the resources in the other controllers currently being used (the resource conflict in the two controllers means that the actuators controlled by the two controllers intersect with each other), thereby avoiding the problem that the controller applying for use is not occupied, but the resources in the controller applying for use conflict with the resources in the other controllers currently being used to cause confusion of control logic, so that the robot can adapt to the requirements of complex scenes.
In addition, the authorization application instruction further includes priority information, and after determining that the resource in the controller applied for use conflicts with the resource in the controller currently being used, the method further includes: judging whether the priority of the first application program is higher than the priority of the application program which uses the controller applied for use or not according to the priority information; if so, giving the control authority of the controller applied for use to the first application program; and if not, refusing to give the first application program the control authority of the controller applied for use.
In addition, the authorization request instruction further includes priority information, and after it is determined that the controller used in the request is the same as the controller currently being used, the method further includes: judging whether the priority of the first application program is higher than the priority of the application program which uses the controller applied for use or not according to the priority information; if so, giving the control authority of the controller applied for use to the first application program; and if not, refusing to give the first application program the control authority of the controller applied for use.
In addition, the authorization request instruction further includes exclusivity information, and before the determining whether the controller used by the request is the same as the controller currently being used, the method further includes: judging whether the controller applied for use is a resource exclusive controller or not according to the exclusivity information; if not, giving the control authority of the controller applied for use to the first application program; and if so, executing the judgment to judge whether the controller applied for use is the same as the controller currently used.
In addition, the authorized application instruction further includes urgency information, and before the first application program is given the control authority of the controller applied for use, the method further includes: judging whether the first application program requires to immediately give control authority or not according to the urgency information; if not, executing the control authority of the controller which is endowed with the application for the first application program after the first time period; and if so, immediately executing the control authority of the controller used for the application given to the first application program. By the arrangement, on the premise of meeting the time requirement of an applicant, the stop logic is completed by giving a certain buffer time to the currently running application program, so that the influence on the use of a user due to the emergency stop of the currently running application program can be avoided.
In addition, the executing the control right of the controller which is endowed for the first application program for the application after the first period of time comprises: sending a focus lost delay event to an application that is using a controller used by the application; judging whether a finished instruction sent by an application program of the controller applying for use is acquired or not; and after a completed instruction sent by an application program using the controller applied for use is acquired, or after the timing time reaches a preset time, giving the first application program the control authority of the controller applied for use.
In addition, the authorized application instruction further includes control right exclusive information, and after the first application program is given the control right of the controller applied for use, the method further includes: and if the exclusivity information indicates that the first application program requires exclusive sharing of the control right in the same time interval, canceling the use right of the controllers of all running application programs. By the arrangement, mutual exclusion and protection at the system level can be realized.
In addition, after the control authority of the controller applied for use is given to the first application program, the method further includes: and after the first application program finishes controlling the controller applied for use, giving the control authority of the controller applied for use to the preempted application program again. By the arrangement, the influence of the addition of the new application program on the operation of the existing application program can be reduced.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a flowchart of a rights management method according to a first embodiment of the invention;
fig. 2 is a schematic view of focus maintenance in a rights management method according to a first embodiment of the present invention;
fig. 3 is a schematic diagram of an application scenario in which a controller does not conflict in a rights management method according to a first embodiment of the present invention;
fig. 4 is a schematic diagram of an application scenario in which a controller conflicts and is rejected in a rights management method according to a first embodiment of the present invention;
fig. 5 is a schematic diagram of a conflict and successful application scenario of a controller in a rights management method according to a first embodiment of the present invention;
fig. 6 is a schematic diagram of a scenario in which after a high-priority application releases a control right, an original low-priority application reacquires the control right in the rights management method according to the first embodiment of the present invention;
fig. 7 is a schematic view of a robot according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.
Typically, one controls a set of joints with a "Controller", for example, an arm may consist of 3 to 7 joints in series, and one "arm _ Controller" may be used to control these joints.
Each joint of the robot is typically controlled by an actor, which typically may have multiple control modes, e.g., Position Mode, Current Mode, Velocity Mode, Profile Position Mode, etc., so the same arm "controller" may be classified as "arm _ Position _ controller", "arm _ Current _ controller", etc., if it is desired to work in different actor control modes.
In general, the Actuator can only be in one mode at the same time and only allow one "Controller" control. The inventor finds that the simple logic has little problem in robot control with simple structure or simple function, but in the control of the service-type humanoid robot, the existing mechanism can not solve the requirement of complex scenes. For example, grabbing requires controlling both arms, and visual following requires controlling the head, both of which can work simultaneously, but dancing also requires controlling both arms and head, which conflicts with the above scenario by the actor. For another example, when the robot wants to dance, the robot can move at a low speed, but if the robot wants to balance by adjusting the joints of the trunk when moving at a high speed, the moment conflicts with the dance which wants to control the trunk. Therefore, the original simple logic cannot adapt to these scenarios, and even if upper-level logic control such as "state machine", "behavior tree", etc. is introduced, the requirement of complex scenarios cannot be satisfied, and the same actor or Controller cannot be protected from the bottom level and controlled by two logic subjects at the same time.
A first embodiment of the present invention relates to an authority management method, and the core of the present embodiment is that the authority management method includes: acquiring an authorized application instruction sent by a first application program, wherein the authorized application instruction comprises information of a controller applied for use; judging whether the controller applied for use is the same as the controller currently used or not according to the information of the controller applied for use; judging whether the resources in the controller applying for use conflict with the resources in the controller currently being used after judging that the controller applying for use is different from the controller currently being used; and after judging that the resources in the controller applied for use do not conflict with the resources in the controller currently used, giving the first application program the control authority of the controller applied for use. By judging whether the controller applying for use is the same as the controller currently being used (i.e. judging whether the controller applying for use is currently used, i.e. whether the controller is occupied), and judging whether the resources in the controller applying for use conflict with the resources in other controllers currently being used (the resource conflict in the two controllers means that the actuators controlled by the two controllers are crossed), the problem that the controllers applying for use are not occupied, but the resources in the controller applying for use conflict with the resources in other controllers currently being used to cause confusion of control logic can be avoided, and the robot can adapt to the requirements of complex scenes.
The following describes the implementation details of the rights management method of the present embodiment in detail, and the following is only provided for the convenience of understanding and is not necessary for implementing the present embodiment.
Optionally, the authorization request instruction may further include priority information, and after determining that the resource in the controller that is requested to be used conflicts with the resource in the controller that is currently being used, the method may further include: judging whether the priority of the first application program is higher than the priority of the application program which uses the controller applied for use or not according to the priority information; if so, giving the control authority of the controller applied for use to the first application program; if not, the control authority of the controller applied for use is refused to be given to the first application program.
That is, in the case where the controller for application use is not occupied but the resources conflict, the control authority of the controller for application use is switched to the first application only when the priority of the first application (applicant) is higher than the priority of the application (running application) that is using the controller for application use, and the original control authority (i.e., the control authority of the running application to the controller for application use) is maintained when the priority of the first application is lower than the priority of the application that is using the controller for application use.
In some embodiments, the authorization request instruction may further include priority information, and after determining that the controller used in the request is the same as the controller currently being used, may further include: judging whether the priority of the first application program is higher than the priority of the application program which uses the controller applied for use or not according to the priority information; if so, giving the control authority of the controller applied for use to the first application program; if not, the control authority of the controller applied for use is refused to be given to the first application program.
In other words, in the case where the controller for which use is applied is occupied, the control authority of the controller for which use is applied is switched to the first application only when the priority of the first application is higher than the priority of the application that is using the controller for which use is applied, and the original control authority (i.e., the control authority of the original application to the controller for which use is applied) is maintained when the priority of the first application is lower than the priority of the application that is using the controller for which use is applied.
As shown in fig. 1, the method for rights management in this embodiment specifically includes the following steps:
s11: and acquiring an authorization application instruction sent by the first application program.
In this step, the control management end of the robot obtains an authorized application instruction sent by the first application program, where the authorized application instruction may include information of a controller to be applied for use and priority information.
In practical application, a "Focus" is introduced in the management of the Controller to represent the control right, and the following requirements are made for the Controller: 1. who used, who applied for; when the user waits for use, the user applies for the use, and the Focus needs to be released after the use is completed.
S12: and judging whether the controller applied for use is occupied, if not, executing the step S13, and if so, executing the step S14.
In this step, whether the controller applied for use is the same as the controller currently being used is judged according to the information of the controller applied for use, if so, the controller applied for use is indicated to be occupied, and if not, the controller applied for use is indicated to be unoccupied.
S13: and judging whether the resources in the controller applied for use conflict with the resources in the currently used controller, if so, executing the step S14, and if not, executing the step S15.
For example, an a application has been using a left arm "Controller", a B application wants to apply for a full body "Controller", which are two different controllers from the Controller level, but from the Actuator (Actuator, i.e. resource in the Controller) level, the full body Controller and the Actuator controlled by the left arm Controller have a conflict, and therefore, a contention mechanism is also required.
S14: whether the priority of the first application program is higher than that of the application program using the controller which applies for use is judged, if yes, step S15 is executed, and if not, step S16 is executed.
That is, when the controller to which the application is applied is occupied or when the resource in the controller to which the application is applied conflicts with the resource in the currently used controller, it is determined to which the control authority of the controller is given based on the priority information. That is, a resource contention mechanism based on a controller and a priority, and a resource contention mechanism based on an activator and a priority are provided.
For example, an a application is already using a right arm controller, a B application also wants to apply for using the right arm controller, and if the priority of the B application is high, the a application will lose control, and B gains control; if the priority of B is not higher than A, the B application can not obtain the control right.
S15: and giving the first application program the control authority of the controller applied for use.
S16: and refusing to give the first application program the control authority of the controller applied for use.
Optionally, the authorization request instruction may further include exclusivity information, and before determining whether the controller used by the request is the same as the controller currently being used, the method further includes: judging whether the controller applied for use is a resource exclusive controller or not according to the exclusivity information; if not, giving the control authority of the controller applied for use to the first application program; if yes, judging whether the controller applied for use is the same as the controller currently used.
For a resource exclusive type controller, only one owner can control the same time. Therefore, it is necessary to determine whether to switch the control authority of the controller for application to the applicant, such as whether the controller is occupied, whether the resource in the controller conflicts with the resource in another controller being used, whether the priority of the applicant (application program that issued the request) is higher, and the like. The resource exclusive controller may be a controller (e.g., an arm controller) that controls an activator, or the like.
For the non-resource exclusive controller, competition is not involved, the controller can be simultaneously controlled by a plurality of controllers, counting is only needed according to the application condition, the equipment can be normally opened when an applicant exists, and the equipment can be normally closed when no applicant exists. Therefore, the control authority of the controller which is applied for use can be given to the applicant without influencing the application program which is currently running, without judging the conditions of whether the controller is occupied, whether the resource in the controller conflicts with the resource in the other controllers which are currently used, whether the priority of the applicant (the application program which sends the request) is higher, and the like. The non-resource exclusive controller may be a sensor type read-only controller (e.g., an IMU controller) or an alarm lamp (e.g., an LED controller).
In other words, the control authority of the controller to be applied for use is directly given to the applicant for the non-resource exclusive controller, whether the controller to be applied for use conflicts and whether the resources in the controller conflict with each other are determined for the resource exclusive controller, and when both of them do not conflict with the currently running program, the control authority of the controller to be applied for use is given to the applicant, and when either one conflicts with the currently running program, which application program the control authority of the controller is given to is determined according to the priority level.
Optionally, the authorized application instruction may further include urgency information, and before the first application program is given the control authority of the controller applied for use, the method may further include: judging whether the first application program requires to immediately give control authority or not according to the urgency information; if not, after the first time period, the control authority of the controller applying for use is given to the first application program; if yes, immediately executing the control authority of the controller which is endowed for use by the first application program. By the arrangement, on the premise of meeting the time requirement of an applicant, the stop logic is completed by giving a certain buffer time to the currently running application program, so that the influence on the use of a user due to the emergency stop of the currently running application program can be avoided.
Further, after the first period of time, the step of giving the first application program the control authority of the controller applying for use may include: sending a focus lost delay event to an application that is using a controller that applies for use; judging whether a finished instruction sent by an application program of a controller applying for use is acquired or not; and after a completed instruction sent by the application program using the controller applied for use is acquired, or after the timing time reaches a preset time, giving the first application program the control authority of the controller applied for use.
That is, the present embodiment provides two processing modes for applying/losing the control right for emergency and non-emergency. For example, in a non-emergency situation, the party who has lost the control right is given a certain time for the process of "stopping control" (for example, stopping in speed smoothing), that is, the operation of "delaying execution" of the control right switching; in an emergency, the control is immediately stopped by the party who has lost the control right, and the control is immediately started by a new controller, that is, the operation of switching the control right is "immediately performed".
Specifically, when immediatately is true, the FOCUS feedback of the preempted app (application) receives a FOCUS _ LOSS event. At this point, if the app does not want to wait for control to be restored, abandonControllerFocus can be called directly (abandoning controller focus); if waiting on purpose, no further processing is required except that the logical control of the app itself needs to be stopped.
When immediatately is false, the FOCUS feedback of the preempted app will receive a FOCUS _ LOSS _ latch event. The event indicates that the controller manager gives the app a certain time to process the stop logic, and at this time, the app can also control the robot through the controller. For example, the chassis navigation may have time brake after receiving the FOCUS _ LOSS _ latch event.
Optionally, after the app finishes processing the stop logic, the app needs to notify the controller manager that the app has finished processing the stop logic, and the controller manager may lose control right, at this time, the controller manager may send the FOCUS _ LOSS event to the app again, and the subsequent processing is consistent with the processing manner of "when the immediatelaty is true", and is not described here again. If the controller manager does not receive the notification that the stop logic is completed after the preset time length, the controller manager sends the FOCUS _ LOSS event notification app to lose the control right after the timeout, and at this time, the control right of the controller cannot be switched within the preset time length.
That is, for the resource exclusive type controller, the following aspects may be included:
1. and checking resource conflict. Not only the "controller" but also the resources (Actuator) in the controller are checked.
2. The applicant is clear. Each Focus request requires an explicit "applicant" and "request parameters", wherein the request parameters include: controllers (controller information), immediatately (urgency information), exclusive (exclusivity information), priority (priority information).
3. Focus is maintained in Stack, as shown in FIG. 2, and FIG. 2 is a schematic diagram of Focus maintenance.
Optionally, the authorized application instruction may further include control right exclusive information, and after the first application program is given the control right of the controller applied for use, the method may further include: and if the exclusivity information indicates that the first application program requires exclusive sharing of the control right in the same time period, canceling the use right of the controllers of all running application programs. By the arrangement, mutual exclusion and protection at the system level can be realized.
That is, a contention mechanism for exclusive control of the right for the same period is provided. For example, an a application uses the left arm controller, a B application wants to use the chassis controller, and there is generally no resource conflict between the two at the level of the controller and the Actuator, so both can be controlled simultaneously regardless of the configuration of the A, B priorities. But if we do not want other applications to control any other controllers when controlling chatiss, we need a slot-based control authority exclusive mechanism.
The same time period control right exclusive competition mechanism is commonly used for mutual exclusion and protection at the system level. For example, in a normal case, when an actuator on a right arm fails, the system applies the highest priority for the right arm controller control, and other applications cannot get the right arm controller control. However, if the executor on the trunk fails, it is not only desired to apply the method that cannot control the trunk controller, but also other controllers cannot be controlled, and then a contention mechanism that is exclusively shared by the control right in the same time period may be used.
In this embodiment, at least the following Controller Focus application scenarios exist:
as shown in fig. 3, fig. 3 is a schematic diagram of an application scenario in which controllers do not conflict (the controllers are not occupied, and resources in the controllers do not conflict).
As shown in fig. 4, fig. 4 is a schematic diagram of an application scenario in which controllers conflict (the controllers are occupied, or resources in the controllers conflict) and are rejected.
As can be seen from fig. 4, if the applicant has a controller conflict with the current active person, and the priority of the applicant is not higher than that of the active person, the application is directly rejected.
As shown in fig. 5, fig. 5 is a schematic diagram of a successful application scenario in which controllers conflict (the controllers are occupied, or resources in the controllers conflict).
As can be seen from fig. 5, in the case of emergency and non-emergency, the operations of "immediate execution" and "delayed execution" control right switching are respectively adopted, and reference may be made to the foregoing specific manner.
In practical applications, after the control authority of the controller applied for use is given to the first application program, the method may further include: and after the first application program finishes controlling the controller applied for use, giving the control authority of the controller applied for use to the preempted application program again. By the arrangement, the influence of the addition of the new application program on the operation of the existing application program can be reduced.
As shown in fig. 6, fig. 6 is a schematic diagram illustrating a scenario in which after a high-priority application releases control, an original low-priority application regains control. When the high priority application B no longer controls the Controller (e.g., Controller 3), the Controller Focus is released and the original Controller (e.g., Controller 1) is started, and the low priority holder of the original Focus (application a) receives notification notifying it to gain Focus, regains control, and starts new control.
Compared with the prior art, the embodiment of the invention provides a resource competition mechanism based on a controller and a priority, a resource competition mechanism based on an activator and a priority, a competition mechanism which is exclusive to the control right in the same time period, and a processing mode of applying/losing the control right for emergency and non-emergency, so that the robot can adapt to the requirements of complex scenes.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are all within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
A second embodiment of the present invention relates to a robot, as shown in fig. 7, including: at least one processor 201, and a memory 202 communicatively coupled to the at least one processor 201, wherein the memory 202 stores instructions executable by the at least one processor 201, the instructions being executable by the at least one processor 201 to enable the at least one processor 201 to perform a rights management method as described above.
Where the memory 202 and the processor 201 are coupled in a bus, the bus may comprise any number of interconnected buses and bridges, the buses coupling one or more of the various circuits of the processor 201 and the memory 202 together. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 201 is transmitted over a wireless medium through an antenna, which further receives the data and transmits the data to the processor 201.
The processor 201 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And the memory 202 may be used to store data used by the processor 201 in performing operations.
A third embodiment of the present invention relates to a computer-readable storage medium, in which a computer program is stored, which, when executed by a processor, implements the above-described embodiments of the rights management method.
That is, as can be understood by those skilled in the art, all or part of the steps in the method according to the above embodiments may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. A method of rights management, comprising:
obtaining an authorized application instruction sent by a first application program, wherein the authorized application instruction comprises information of a controller applied for use;
judging whether the controller applied for use is the same as the controller currently used or not according to the information of the controller applied for use;
judging whether the resources in the controller applying for use conflict with the resources in the controller currently being used after judging that the controller applying for use is different from the controller currently being used;
and after judging that the resources in the controller applied for use do not conflict with the resources in the controller currently used, giving the first application program the control authority of the controller applied for use.
2. The rights management method of claim 1, wherein the authorization request instruction further includes priority information, and after determining that the resource in the controller requesting for use conflicts with the resource in the controller currently being used, the method further includes:
judging whether the priority of the first application program is higher than the priority of the application program which uses the controller applied for use or not according to the priority information;
if so, giving the control authority of the controller applied for use to the first application program;
and if not, refusing to give the first application program the control authority of the controller applied for use.
3. The rights management method of claim 1, wherein the authorization request instruction further includes priority information, and after determining that the controller requesting for use is the same as the controller currently being used, the method further includes:
judging whether the priority of the first application program is higher than the priority of the application program which uses the controller applied for use or not according to the priority information;
if so, giving the control authority of the controller applied for use to the first application program;
and if not, refusing to give the first application program the control authority of the controller applied for use.
4. The method of claim 1, wherein the authorization request command further includes exclusivity information, and before determining whether the controller requesting for use is the same as the controller currently being used, the method further comprises:
judging whether the controller applied for use is a resource exclusive controller or not according to the exclusivity information;
if not, giving the control authority of the controller applied for use to the first application program;
and if so, executing the judgment to judge whether the controller applied for use is the same as the controller currently used.
5. The rights management method according to any of claims 1 to 4, wherein the authorized application instruction further includes urgency information, and before giving the first application the control right of the controller used in the application, the method further includes:
judging whether the first application program requires to immediately give control authority or not according to the urgency information;
if not, executing the control authority of the controller which is endowed with the application for the first application program after the first time period;
and if so, immediately executing the control authority of the controller used for the application given to the first application program.
6. The rights management method of claim 5, wherein said re-executing the control rights of the controller assigned for use by the application to the first application after the first period of time comprises:
sending a focus lost delay event to an application that is using a controller used by the application;
judging whether a finished instruction sent by an application program of the controller applying for use is acquired or not;
and after a completed instruction sent by an application program using the controller applied for use is acquired, or after the timing time reaches a preset time, giving the first application program the control authority of the controller applied for use.
7. The method of claim 1, wherein the authorized application command further includes control right exclusive information, and after the first application program is given the control right of the controller applied for use, the method further includes:
and if the exclusivity information indicates that the first application program requires exclusive sharing of the control right in the same time interval, canceling the use right of the controllers of all running application programs.
8. The rights management method according to claim 1, wherein after the giving the first application the control right of the controller applied for use, further comprising:
and after the first application program finishes controlling the controller applied for use, giving the control authority of the controller applied for use to the preempted application program again.
9. A robot, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of rights management as claimed in any one of claims 1 to 8.
10. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the rights management method of any of claims 1-8.
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