201131474 六、發明說明： 【發明所屬之技術領域】 [0001] 本發明係有關於-種具有用於執行機器人應用程序 (And r 0 i d a PP 1 i c a t i 〇 n S，機器 人應用程序）的終端裝置。而其是指—種終端裝置其 為了在通過另外的RT0S (Rea卜丁^ 〇 3 ing System，即時操作系統）工 作的終端上執行機器人應用程序，將機器人框架優化到 低性能設襟（1〇w-perf〇rmance “ V i c e )，並通過移植層實現與終端裝置的rτ〇s 之間的連接’並《爾較（h ! v i fc)虛擬機進 行再構成，使其能在RT0 s的阜任務中執行。 【先前技術】201131474 VI. Description of the Invention: [Technical Field of the Invention] [0001] The present invention relates to a terminal device having a robot application (And r 0 i d a PP 1 i c a t i 〇 n S, a robot application). And it refers to a terminal device that optimizes the robot framework to a low performance setting in order to execute a robot application on a terminal operating through another RTOS (Real System). W-perf〇rmance “V ice ), and realize the connection with rτ〇s of the terminal device through the migration layer' and reconstruct the virtual machine (h! vi fc) so that it can be at RT0 s Execute in the task. [Prior technology]
[0002] 谷歌機器人平臺是谷歌（g 0 0 g i e )公司主導 的OHA(〇pen Handset Allian c e )中公開的軟體棧，意味著包含L i n u χ内核、 虛擬機（VM:virtual machine)、 框架（framework)、應用程序（appli c a t i 〇 n)全部的套裝軟體。[0002] The Google Android platform is a software stack disclosed in Google's OHA (〇pen Handset Allian ce), which means that it contains a Linu χ kernel, a virtual machine (VM: virtual machine), and a framework ( Framework), application (appli cati 〇n) all package software.
谷歌機器人平臺主要僅適用於解析度為8 〇 8 0的WVGA(wide VGA)級的大畫面顯示器 和提供觸摸屏輸入的高規格的智慧手機終端。 [0004] 為了執行谷歌機器人的應用程序，需要在終端裝置 上適用機器人整體軟體棧。機器人軟體棧包含L〖n u x内核’並包含多種服務（系統進程等）作為基本條件 099142565 表單編號Λ0101. 第4頁/共22頁 1003114898-0 201131474 [0005] [0006] θ [0007]The Google Android platform is mainly used for large-screen displays of the WVGA (wide VGA) class with a resolution of 8 〇 80 and high-profile smartphone terminals that provide touch screen input. [0004] In order to execute an application of the Google Android, it is necessary to apply the robot overall software stack on the terminal device. The robot software stack contains L 〖n u x kernel' and contains various services (system processes, etc.) as basic conditions. 099142565 Form number Λ0101. Page 4 of 22 1003114898-0 201131474 [0005] [0006] θ [0007]
，因此適合於高性能（h i gh — pe r f ο rman c e )的智慧手機。 至於低規格的功能手機（feature p h 〇 n e )因為不能執行機器人的應用程序，所以只能以其 他的平臺工作，而不能以機器人平臺工作。 【發明内容】 本發明的目的在於，提供一種以在以沒有設置谷歌 機器人平臺的RTO S工作的低規格終端裝置上，也能 執行機器人應用程序的技術。即，根據本發明，能夠在 不具備L i n u X内核的終端裝置的R Τ Ο S上或在由 晶片製造者提供給R Τ 0 S的平臺上執行機器人應用程 序，由此在低規格的功能手機中也能執行機器人應用程 序。 本發明的終端裝置包括：應用程序層模組，其包含 機器人應用程序；RTO S層模组，其包含與終端處理 器連接的作業系統；以及中間件模組，其用於連接RT Ο S層模組和機器人應用程序。中間件模組包括：類庫 層模組，其包含具有執行機器人應用程序所需的類庫的 應用程序框架模組和提供Jaνa AΡI的核心類庫 模組；移植層模組，其包含檔系統、記憶體分配模組、 網路模組、基礎庫、計時器、設備控制模組中的一個以 上的硬體管理模組，以提供用於管理終端的硬體的功能 •，以及本地庫層模組，其包括具備平臺獨立型模組的虛 擬機和在構建所述應用程序框架模組的庫時成為基礎的 本地庫，該虛擬機通過所述類庫和所述J a v a A Ρ 099142565 表單編號Α0101 第5頁/共22頁 1003114898-0 201131474 [0008] [0009] [0010] [0011] [0012] I啟動所述機器人應用程序，該平臺獨立型模組由線程 管理模組、動態庫管理模組、外部函數介面、同步模組 、以及記憶體管理模組構成，並與所述移植層模組連動 而使所述機器人應用程序通過不是機器人L i n u X的 R Τ Ο S層模組執行。 本發明的終端裝置中，虛擬機為達爾維克（Dal v i k)虛擬機，通過移植層模組按照R T 0 S的單任 務來工作。 本發明的終端裝置中，移植層模組包含檔系統、記 憶體分配模組、網路模組、基礎庫、計時器、設備控制 模組中的一個以上的硬體管理模組，並與終端裝置的硬 體接觸，進行管理、控制。 本發明的終端裝置中，本地庫層模組具備與移植層 模組的硬體管理模組連動而工作的一個以上的本地庫。 本發明的終端裝置中，應用程序框架模組包含電話 服務、位置服務、藍牙服務、WI F I服務、U S B服 務、感測器服務中的一個以上的服務的模組，並根據機 器人應用程序的執行，按照後臺執行相應服務。 根據本發明，可以在以其他作業系統（0 S )工作 的終端裝置中也能執行谷歌機器人應用程序，因此具有 可以提高機器人應用程序的價值（v a 1 u e )的效果 〇 另外，根據本發明，由於使機器人平臺輕量化，從 而具有通過低規格的一般功能手機也能提供機器人應用 099142565 表單編號A0101 第6頁/共22頁 1003114898-0 [0013] 201131474 程序服務的優點。 【實施方式】Therefore, it is suitable for high-performance (h i gh — pe r f ο rman c e ) smart phones. As for the low-profile feature phone (feature p h 〇 n e ), since the robot application cannot be executed, it can only work on other platforms, not the robot platform. SUMMARY OF THE INVENTION An object of the present invention is to provide a technique for executing a robot application program on a low-standard terminal device that operates on an RTO S in which a Google robot platform is not provided. That is, according to the present invention, it is possible to execute a robot application on the R Τ Ο S of the terminal device not having the Linu X core or on the platform provided by the wafer manufacturer to the R Τ 0 S, thereby functioning at a low specification The robot application can also be executed in the mobile phone. The terminal device of the present invention comprises: an application layer module including a robot application; an RTO S layer module including an operation system connected to the terminal processor; and a middleware module for connecting the RT Ο S layer Modules and robotics applications. The middleware module includes: a library layer module, which includes an application framework module having a class library required to execute a robot application, and a core class library module providing Jaνa AΡI; a porting layer module including a file system More than one hardware management module in the memory distribution module, network module, base library, timer, device control module, to provide hardware for managing the terminal, and the local library layer a module comprising a virtual machine having a platform-independent module and a local library that becomes the basis when constructing the library of the application framework module, the virtual machine passing the class library and the Java A Ρ 099142565 form [0012] [0012] [0012] [0012] [0012] [0012] I start the robot application, the platform independent module is composed of a thread management module, a dynamic library The management module, the external function interface, the synchronization module, and the memory management module are configured, and are linked with the transplant layer module to pass the robot application through the R Τ Ο S layer mode which is not the robot Linu X carried out. In the terminal device of the present invention, the virtual machine is a Dalvik virtual machine, and the portable layer module operates in accordance with the single task of R T 0 S. In the terminal device of the present invention, the transplantation layer module includes one or more hardware management modules of the file system, the memory distribution module, the network module, the base library, the timer, and the device control module, and the terminal The hardware contact of the device is managed and controlled. In the terminal device of the present invention, the local library module has one or more local libraries that work in conjunction with the hardware management module of the porter module. In the terminal device of the present invention, the application framework module includes a module of one or more services of a telephone service, a location service, a Bluetooth service, a WI FI service, a USB service, and a sensor service, and is executed according to the application of the robot application. , according to the background to perform the corresponding services. According to the present invention, the Google Android application can be executed also in the terminal device operating in another operating system (OS), and therefore has an effect of improving the value (va1ue) of the robot application. Further, according to the present invention, Due to the weight reduction of the robot platform, it is also possible to provide a robot application through a low-profile general function mobile phone. 099142565 Form No. A0101 Page 6 of 22 Page 313114898-0 [0013] 201131474 Advantages of the program service. [Embodiment]
[0014] [0015] [0016] ❹ [0017] [0018] G 以下，參照附圖詳細說明本發明的實施例。 第一圖是概略地示出本發明用於執行機器人應用程 序的基於虛擬機的層結構的終端裝置（1 〇 〇 )的整體 結構的框圖。 終端裝置（1 0 0)包含應用程序層模組（1 0) 、中間件模組（2 0 )、R 丁 〇 S層模組（3 0 )、終 端處理器（4 0)、終端硬體（5 〇)。其中，終端裝 置（100) —般是指手機、ΜP 3等的移動裝置，但 除此之外，還可以包含通過終端處理器（4办）而基於 R Τ 0 S工作的一般的終端裝置。 應用程序層模組（1 〇)中的應用程序是通過具有 移植層和虛擬機的中間件來執行的機器人應用程序。 .；： ：. , 中間件模組（2 0)位豕RX〇s層模組（3〇) 和應用程序層模組（i Q )，，，連接應用程序層 模組（1 0)所具備的機器人應用程序。其中，中間件 核組（2 G)具備虛擬機和庫，以執行機器人應用程序 ’同時還具有移植層’以與RTC) s層連接。對於中間 件模組（2 0)的具體的細節事項，將在後面參照第二 圖至第六圖進行詳細說明。 終端處理器（4 0)是中央處理器，當是移動終端 時’可以處理多樣的多媒體和通信功能，並且可以使用 輕量化O i…ieight)的移動專用處理 099142565 表單編號A0101 苐7頁/共22頁 [0019] 201131474 器。 [0020] [0021] [0022] [0023] [0024] 099142565 、、端硬體（5 Ο )包含構成終端裝置的畫面輪出部 曰頻輸出部、用戶輪入部等。 第二圖是詳細示出中間件模組（2 0)的圖。 中間件模組（2 G)按照各層分為類庫層模組（2 1)、本地庫層模組（22)、移植層模組（23)。 各層越趨近下側越接近物理層。移植層模組（2 3)與 RT0S層模組（3〇)緊密連接，類庫層模組（21、 )與應用程序層模組（10)緊密連接。 類庫層核組（21)包含應用程序框架_組（21 、、且（2 1 - 2 )提供執行機器人應用程序所需的類庫， 核心類庫模組（2!-1)提供；ava API。 在具體實施财，應用程序框架模組（2 1 -2 ) 在谷歌機器人平臺上對應用程序框架層進行修正來使用 或進行再錢。谷歌機器人應緣序㈣層上具備執行 機器人應用程序所需的類庫和服務等。此時，對於虚應 用程序的相容無_—部分服務，因此為了輕量化= 刪除。核心類庫模組（2 1在谷歌機器人平臺上 屬於機器人的運行時間的核心庫進行再使用。機器人 的核〜庫巾具備用於以“ v a語言進行編程 Java API。 本地庫屠模組（2 2)包含虛擬機（2 2 — 2 ) 而虛擬機（2 2 — 1 )通過應用程序框架模组（2 i 1003114898-0 表單編衆删 ^ 8 1/^ 22 f [0025] 201131474 2)所具備的類庫和核心類庫模組（2 i ^ )所具備 的J a V a A P I，啟動位於應用程序層模組（工〇 )的機器人應用裎序。並且，本地庫層模組（2 2)具 備本地庫（2 2〜2)，該本地庫（2 2 ~ 2)成為構 建應用程序框架模組（2 1-2)的庫的基礎。 [0026] Ο [0027] Ο 099142565 作為具體例，虛擬機（2 2〜i )對谷歌機器人平 臺的達爾維克（Da ! v i k)虛擬機進行修正來使用 。即從現有的達爾維克虛擬機刪除依賴於L i n u又的 模組，增加其他平臺不提供的找，JUx按昭單任務也 能執行的結構再構成虛擬機來使用。本地庫（2 2 — 2 )再使用位於機器人平臺的應用程序框架㈣方的庫。 此時’本地庫（22 —2)—般使用明放源碼（op e n s 〇 u r e e )域礎的軟體並根據需要進行 修正、移植來配置在本地庫層模組（2 2)上。 移植層板組（2 3)蜂接♦味库層模組（2 2)與 尺丁〇8層模組（30)，苹提供通過只丁〇8層模組 (3 〇 )管理終端的硬體的她。即移植層模組（2 3 )疋對依賴於作業系統的代碼進行整理，以能夠容易地 移植到其他的作業系統的層，並且包_系統、記憶體 分配、網路、基礎庫“ ““、……、瓜 …等）、計時器、設備控制（顯示器、媒體、輸入 裝置、3D等）、其他實用工具等的硬體管理模組。並 且移植層模級（2 3)通過硬體管理模組接近終端裝 置（1 0 0)的硬體而進行管理及控制。 例如，移植層模組（23)中具備Kerne i ( 表單編號A0101 篦Q百μ 1003114898-0 [0028] 201131474 DLL， p m ( f i 1 e i 〇 ' s t d me)，D e e d i a、i (1 〇 g ' d thread 'memo r 1 i b、s t v i c e ( f n p u t、3 e b u g、e ， etc) Y ' sock r i n g ' m r a m e b u D ' etc) t c )等。 ，s y s t e e t、s t d a t h、t i f f e r、m ，U t i i s [0029] [0030] [0031] 第圖不出了作為作業系統而使用未設置谷歌機器 的TOS的例子，第五圖示出了設置了由晶片製造 者提供給RTOS的平臺（例：WISE平臺）的例子 通吊的低規格的智慧手機具有第五圖所示的結構。 第一圖疋放大表示第二圖的類庫層模組（21)和 本地庫層模組（2 2 )的左侧結構的框儀。 虛擬機（2 1 )是修正達爾維克虛擬機而得到 達爾維克虛擬機;^谷歌機器人平臺提供的虛擬機， 使其” J a v a虛擬機相比在更小的記憶體環境下工作 (p t h r e o b j e c 。虛擬機（2 24)包括線程管理模組 a d )、動態庫管理模組（s h a r e d dll)、外部函數介面（FF J : f r e i g n function 模組、記憶體管理模組。 nterface 、同步 [0032] 包含在虛擬機（2 2 — 1 )的模組是不受平臺種類 的影響的所謂“平臺獨立型”模組。虛擬機（22-1 )通過移植層模、組（2 3 )與RT0 s層模組（3 〇 ) 連動地工作。並且，虛擬機（2 2 ~ 1 )是對現有的達 099142565 表單編號A0101 第10頁/共22頁 1003114898-0 201131474 爾維克虛擬機進行修正而構成的，以相應於終端裝置（ 1 0 0)來實現記憶體管理。 [0033] 除此以外，對於虛擬機（2 2—1)，優選對現有 的達爾維克虛擬機進行修正，使其在不支援多工而以單 任務工作的終端裝置（1 〇 0)中也能工作，從而能夠 以單任務工作。即虛擬機（2 2 — 1 )通過移植層模組 (2 3)與RTOS層模組（3 〇)連動地以單任務工 作。 Ο [0034] 核心類庫模組（2 1 — 1 )提供用於以j a v a語 言編程的基本的J a v a A P I。 [0035] 本地庫（2 2 — 2)成為構建上位層的庫的基礎， 並以符合除L i η 11 X外的其他平臺的方式被移植。例 如，以符合R Τ〇S的方式被移植，或以符合由晶片製 造者提供給RTO S的平臺（例：W j s Ε平臺）的方 式被移植。 [0036] 第六圖示出了本地庫層模組(2 2)的另一實施例 尤其為達爾維克虛擬機的另一實施例。虛擬機（2 2 '1 )包括共用物件或DLL這類動態庫管理模組、 外部函數介面、同步模組等。 [0037] 弟四圖疋放大表示第—圖中的類庫層模組（2 1 ) 和本地庫層模組（2 2)的右側結構的框圖。 [0038] 接著第三圖’本地庫層模組（22)t具備盘移植 層模級（2 3 )的硬體管糊且連動地工作的多樣的本 地庫（2 2 — 2)。 0991425.65 表單編號咖1 第11頁/共22頁 201131474 [0039] 應用程序框架模組（2 1 — 2 )中包括電話服務、 位置服務、藍牙服務、WI F I服務、U S B服務、感 測器服務等的多樣的服務的模組。此時，服務模組提供 的服務在整個系統内起到如伺服器或後臺程序的作用， 並根據機器人應用程序的執行，以後臺執行相應服務。 [0040] 各服務模組是根據需要而修正，並為了輕量化而刪 除沒必要的服務模組。即優選從P A F ( P 〇 r t a b 1 e Android Platform，可携式機 器人平臺）中刪除主機平臺提供的模組。 【圖式簡單說明】 [0041] 第一圖：是概略地示出本發明用於執行機器人應用程序 的終端裝置的整體結構的框圖。 [0042] 第二圖：是詳細示出中間件模組的結構圖。 [0043] 第三圖：是放大表示第二圖的類庫層模組和本地庫層模 組的左侧結構的框圖。 [0044] 第四圖：是放大表示第二圖中的類庫層模組和本地庫層 模組的右側結構的框圖。 [0045] 第五圖：示出了代替第二圖所示的RTOS而使用作為 本地平臺的一個實施例的W I S E平臺的結構的框圖。 [0046] 第六圖：示出了第三圖的虛擬機的另一實施例的框圖。 【主要元件符號說明】 [0047] (10 0) 終端裝置 [0048] (10) 應用程序層模組 表單編號A0101 第12頁/共22頁 099142565 1003114898-0[0016] [0018] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The first figure is a block diagram schematically showing the overall configuration of a terminal device (1 〇 〇 ) of a virtual machine based layer structure for executing a robot application of the present invention. The terminal device (1 0 0) includes an application layer module (1 0), a middleware module (20), an R-D-S layer module (30), a terminal processor (40), and a terminal hardware. (5 〇). The terminal device (100) generally refers to a mobile device such as a mobile phone or a ΜP3, but may include a general terminal device that operates based on R Τ 0 S by a terminal processor (4). The application in the application layer module (1 〇) is a robot application executed by a middleware with a migration layer and a virtual machine. .;: :. , The middleware module (20) is located in the RX〇s layer module (3〇) and the application layer module (i Q), and is connected to the application layer module (1 0). A robotic application available. Among them, the middleware core group (2G) has virtual machines and libraries to execute the robot application 'and also has a porting layer' to connect with the RTC) s layer. The details of the intermediate module (20) will be described in detail later with reference to the second to sixth figures. The terminal processor (40) is a central processing unit. When it is a mobile terminal, it can handle various multimedia and communication functions, and can use the mobile special processing of lightweight Ii...ieight. 099142565 Form No. A0101 苐7 pages/total 22 pages [0019] 201131474. [0024] [0024] [0024] 099142565, the terminal hardware (5 Ο) includes a screen output unit 曰 frequency output unit constituting the terminal device, a user wheeling unit, and the like. The second figure is a diagram showing in detail the middleware module (20). The middleware module (2G) is divided into a class library module (2 1), a local library module (22), and a porting module (23) according to each layer. The closer the layers are to the lower side, the closer they are to the physical layer. The porting layer module (23) is closely connected with the RT0S layer module (3〇), and the class library module (21) is closely connected with the application layer module (10). The class library layer core group (21) contains the application framework_group (21, and (2 1 - 2) provides the class library required to execute the robot application, provided by the core class library module (2!-1); ava API. In the specific implementation, the application framework module (2 1 - 2 ) corrects the application framework layer on the Google Android platform to use or make money. The Google robot should have an execution robot application on the fourth (four) layer. The required class libraries and services, etc. At this time, there is no _-partial service for the virtual application compatibility, so for the lightweight = delete. The core class library module (2 1 belongs to the running time of the robot on the Google robot platform) The core library is reused. The robot's core ~ library towel has Java API for programming in "va language. The local library module (2 2) contains the virtual machine (2 2 - 2) and the virtual machine (2 2 - 1) Through the application framework module (2 i 1003114898-0 form editor deleted ^ 8 1 / ^ 22 f [0025] 201131474 2) has the class library and core class library module (2 i ^) J a V a API, launching the application layer module The robot application sequence. Moreover, the local library module (2 2) has a local library (2 2~2), and the local library (2 2 ~ 2) becomes a building application framework module (2 1-2) [0026] Ο [0027] Ο 099142565 As a specific example, the virtual machine (2 2~i) is used to modify the Da! vik virtual machine of the Google Android platform. The Dalvik virtual machine deletion depends on the module of Linu, adding the search that is not provided by other platforms, and the JUX can be used to construct the virtual machine according to the structure that can be executed by the single task. The local library (2 2 - 2 ) is used again. The library of the application framework (4) of the robot platform. At this time, the local library (22-2) generally uses the software of the explicit source (op ens 〇uree) domain and is modified and transplanted as needed to be configured in the local library. Layer module (2 2). Transplanting layer group (2 3) Bee connection ♦ 味 层 layer module (2 2) and 尺丁〇 8 layer module (30), ping provided through only Ding 〇 8 layer mode Group (3 〇) manages the hardware of the terminal. That is, the transplant layer module (2 3 ) is dependent on the operating system. Codes are organized so that they can be easily ported to other operating system layers, and package_system, memory allocation, network, base library "", "..., melon...etc.), timer, device control (display Hardware management module such as media, input device, 3D, etc., and other utility tools, and the port level (2 3) is managed by the hardware management module approaching the hardware of the terminal device (1 0 0). And control. For example, the transplant layer module (23) is provided with Kerne i (form number A0101 篦Q hundred μ 1003114898-0 [0028] 201131474 DLL, pm ( fi 1 ei 〇 ' std me), De eedia, i (1 〇g ' d thread 'memo r 1 ib, stvice ( fnput, 3 ebug, e, etc) Y ' sock ring ' mramebu D ' etc) tc ). , systeet, stdath, tiffer, m, U tiis [0030] [0031] The figure shows an example of using a TOS without a Google device as an operating system, and the fifth figure shows that the wafer is manufactured. An example of a low-profile smartphone that is provided to the RTOS platform (eg, WISE platform) has the structure shown in the fifth figure. The first figure 疋 enlarges the frame of the left side structure of the library layer module (21) and the local library layer module (2 2 ) of the second figure. The virtual machine (2 1 ) is a virtual machine that is modified by the Darwin virtual machine; ^Google robot platform, so that the "J ava virtual machine works in a smaller memory environment (pthreobjec The virtual machine (2 24) includes a thread management module (ad), a dynamic library management module (shared dll), an external function interface (FF J: freign function module, memory management module. nterface, synchronization [0032] The modules in the virtual machine (2 2 - 1 ) are so-called "platform-independent" modules that are not affected by the type of platform. The virtual machine (22-1) passes the migration layer mode, group (2 3 ) and RT0 s layer. The module (3 〇) works in conjunction, and the virtual machine (2 2 ~ 1 ) is composed of the existing 099142565 form number A0101 page 10 / 22 pages 1003114898-0 201131474 Ervik virtual machine In addition to the terminal device (100), memory management is implemented. [0033] In addition to this, for the virtual machine (2 2 - 1), it is preferable to modify the existing Darwin virtual machine so that it is not Support multiplex and single-worker The working terminal device (1 〇0) can also work, so that it can work in a single task. That is, the virtual machine (2 2 - 1 ) is linked with the RTOS layer module (3 )) through the transplantation layer module (23). Working in a single task. Ο [0034] The core class library module (2 1 - 1 ) provides a basic Java API for programming in the Java language. [0035] The local library (2 2 - 2) becomes the upper layer of the build The basis of the library, and is transplanted in a manner consistent with other platforms than L i η 11 X. For example, it is transplanted in a manner consistent with R Τ〇 S, or in conformity with the platform provided by the chip maker to RTO S (example) The way of :W js Ε platform) is ported. [0036] The sixth figure shows another embodiment of the local library layer module (2 2), in particular another embodiment of the Darvik virtual machine. 2 2 '1 ) includes a dynamic library management module such as a shared object or a DLL, an external function interface, a synchronization module, etc. [0037] The fourth figure of the brother is enlarged to show the class library module in the first figure (2 1 ) And a block diagram of the right side structure of the local library layer module (2 2). [0038] Next, the third figure 'local library layer module (22) A variety of local libraries (2 2 - 2) that work in a hard tube paste with a die-level (2 3 ). 0991425.65 Form number coffee 1 Page 11 of 22 201131474 [0039] Application framework module The group (2 1 - 2) includes modules for various services such as telephone service, location service, Bluetooth service, WI FI service, USB service, sensor service, and the like. At this time, the service provided by the service module functions as a server or a background program in the entire system, and executes the corresponding service in the background according to the execution of the robot application. [0040] Each service module is modified as needed, and unnecessary service modules are deleted for weight reduction. That is, it is preferable to delete the module provided by the host platform from P A F (P 〇 r t a b 1 e Android Platform, portable robot platform). BRIEF DESCRIPTION OF THE DRAWINGS [0041] FIG. 1 is a block diagram schematically showing an overall configuration of a terminal device for executing a robot application of the present invention. [0042] FIG. 2 is a structural diagram showing the middleware module in detail. [0043] FIG. 3 is a block diagram showing, in an enlarged manner, the left side structure of the class library layer module and the local library layer module of the second figure. [0044] FIG. 4 is a block diagram showing, in an enlarged manner, the right side structure of the class library layer module and the local library layer module in the second figure. Fifth FIG.: A block diagram showing the structure of a W I S E platform using one embodiment of the local platform instead of the RTOS shown in the second figure. [0046] Sixth Diagram: A block diagram showing another embodiment of a virtual machine of the third figure. [Main component symbol description] [0047] (10 0) Terminal device [0048] (10) Application layer module Form No. A0101 Page 12 of 22 099142565 1003114898-0
201131474 [0049] [0050] [0051] [0052] - [0053] ' [0054] [0055] θ [0056] [0057] [0058] [0059] [0060] G 099142565 (20) 中間件模組 (30) RTOS層模組 (40) 終端處理器 (50) 終端硬體 (21) 類庫層模組 (22) 本地庫層模組 (23) 移植層模組 (21-1) 核心類庫模組 (21-2) 應用程序框架模組 (22—1) 虛擬機 (22-1')虛擬機 (22-2) 本地庫 表單編號A0101 第13頁/共22頁 1003114898-0[0040] [0052] [0054] [0054] [0055] [0055] [0058] [0059] [0060] [0060] G 099142565 (20) Middleware module ( 30) RTOS layer module (40) terminal processor (50) terminal hardware (21) class library module (22) local library module (23) port layer module (21-1) core class library module Group (21-2) Application Framework Module (22-1) Virtual Machine (22-1') Virtual Machine (22-2) Local Library Form Number A0101 Page 13 / Total 22 Page 1003114898-0