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公开(公告)号：US11126639B2
公开(公告)日：2021-09-21
申请号：US15409967
申请日：2017-01-19
发明人： Haifeng Wang , Wei He , Yu Ma , Weide Zhang , Liming Xia , Zhuo Chen
IPC分类号： G06F17/00 , G06F7/00 , G06F16/27 , B60R16/023
摘要： This present application discloses a method and apparatus for synchronizing data in a robot operating system. A specific implementation of the method includes: detecting an operation on data being transmitted between communication processes, wherein the operation includes at least one of updating the data, deleting the data, and storing the data; determining whether the data are persistent data, in response to positively detecting an operation on the data being transmitted between the communication processes; and transmitting a change message of the data to communication processes other than the communication processes in response to positively determining that the data are persistent data. In the embodiment, the persistent data may always remain consistent across the communication processes.
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公开(公告)号：US10069696B2
公开(公告)日：2018-09-04
申请号：US15410614
申请日：2017-01-19
发明人： Yibing Liang , Bocong Liu , Zhuo Chen , Wei He , Chengliang Deng , Kaiwen Feng
摘要： The present application discloses a data acquisition method and apparatus for a driverless vehicle. A specific implementation of the method comprises: selecting a sensor having the highest importance level among at least one sensor of the driverless vehicle as a first sensor and at least one sensor other than the first sensor to forma second sensor set; acquiring a start time of a current time window, and executing the following data processing steps: executing real-time acquiring and storing operations on data packets collected by each sensor among the at least one sensor after the start time of the current time window; determining whether any condition in the following condition group is met; and in response to determining that any condition in the condition group is met, setting the start time of the current time window to the current time, and continuing executing the data processing steps. This implementation realizes synchronized storage of the data packets collected by the at least one sensor of the driverless vehicle.
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公开(公告)号：US09935651B1
公开(公告)日：2018-04-03
申请号：US15410642
申请日：2017-01-19
发明人： Wei He , Liming Xia , Yu Ma , Kaiwen Feng , Yibing Liang , Zhuo Chen
摘要： The present application discloses a data transmission method and apparatus. A specific implementation of the method includes: receiving to-be-transmitted data sent from an information sending end, and determining a sending coding type of the to-be-transmitted data; determining a receiving coding type of an information receiving end receiving the to-be-transmitted data; converting the to-be-transmitted data from the sending coding type to the receiving coding type using a preset transcoding model, to obtain transcoded transmission data, the transcoding model representing a corresponding relationship between the sending coding type and the receiving coding type; and sending the transcoded transmission data to the information receiving end. This implementation improves the data transmission efficiency.
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公开(公告)号：US10649089B2
公开(公告)日：2020-05-12
申请号：US15411795
申请日：2017-01-20
发明人： Yibing Liang , Bocong Liu , Zhuo Chen , Wei He , Chengliang Deng , Kaiwen Feng
IPC分类号： G01S17/88 , G06F13/362 , G01S17/87 , G01S7/00 , G01S17/931 , G05D1/02
摘要： The present application discloses a data acquisition method and apparatus for a driverless vehicle. The driverless vehicle is provided with a LIDAR sensor and a camera sensor, and the method of an embodiment comprises: acquiring a collection period of the LIDAR sensor as a first period; acquiring a start time of a current time window; executing following data processing steps: executing real-time acquiring and storing operations on data packets collected by the LIDAR sensor and the camera sensor after the start time of the current time window; and determining whether a following condition is met: the first period has elapsed from the start time of the current time window to a current time; setting the start time of the current time window to the current time in response to determining that the condition is met, and continuing executing the data processing steps. This embodiment realizes synchronized storage of data packets collected by the LIDAR sensor and data packets collected by the camera sensor in the driverless vehicle.
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公开(公告)号：US10345433B2
公开(公告)日：2019-07-09
申请号：US15410906
申请日：2017-01-20
发明人： Wei He , Kaiwen Feng , Chengliang Deng , Yibing Liang , Bocong Liu , Zhuo Chen , Yu Ma
摘要： The present application discloses a data acquiring method and apparatus applied to a driverless vehicle. A specific implementation of the method includes: selecting, from at least one laser radar of the driverless vehicle, a laser radar having a highest importance level as a first laser radar; acquiring a start time of a current time window and executing following data processing steps: executing a real-time acquisition and storage operation on point cloud data packets collected by the each of the at least one laser radar after the start time of the current time window; and determining whether any condition in a group of conditions is satisfied; and setting the start time of the current time window to be the current time and continuing to execute the data processing steps, in response to determining that any of the group of conditions is satisfied. This implementation implements the alignment and storage of point cloud data packets collected by at least one laser radar of the driverless vehicle.
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6.发明授权公开(公告)号：US10127093B1
公开(公告)日：2018-11-13
申请号：US16039151
申请日：2018-07-18
发明人： Yu Ma , Weide Zhang , Wei He , Haifeng Wang , Yibing Liang , Zhuo Chen
摘要： This disclosure discloses a method and apparatus for monitoring a message transmission frequency in a robot operating system. A specific implementation of the method includes: writing to-be-transmitted messages, into a pre-allocated memory; obtaining time points when the to-be-transmitted messages are written into the memory, and recording the time points in a preset time point list; determining a message transmission frequency within a preset time interval based on the time points in the time point list; and comparing the message transmission frequency with a preset message transmission frequency threshold, and generating monitoring information based on a comparing result. This implementation monitors the message transmission frequency of a process to thereby avoid information codes related to monitoring of each application from being added to the application so as to reduce the program debugging cost, and improve the monitoring efficiency.
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7.发明授权公开(公告)号：US10055265B2
公开(公告)日：2018-08-21
申请号：US15410446
申请日：2017-01-19
发明人： Yu Ma , Weide Zhang , Wei He , Haifeng Wang , Yibing Liang , Zhuo Chen
CPC分类号： G06F9/546 , G06F11/3006 , G06F11/3013 , G06F11/3024 , G06F11/3055 , G06F11/3072 , G06F2201/81 , G06F2209/508 , Y10S901/50
摘要： This discolor discloses a method and apparatus for monitoring a message transmission frequency in a robot operating system. A specific implementation of the method includes: writing to-be-transmitted messages, into a pre-allocated memory; obtaining time points when the to-be-transmitted messages are written into the memory, and recording the time points in a preset time point list; determining a message transmission frequency within a preset time interval based on the time points in the time point list; and comparing the message transmission frequency with a preset message transmission frequency threshold, and generating monitoring information based on a comparing result. This implementation monitors the message transmission frequency of a process to thereby avoid information codes related to monitoring of each application from being added to the application so as to reduce the program debugging cost, and improve the monitoring efficiency.
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公开(公告)号：US20180074878A1
公开(公告)日：2018-03-15
申请号：US15410454
申请日：2017-01-19
发明人： Yu Ma , Weide Zhang , Wei He , Haifeng Wang , Zhuo Chen , Yibing Liang
IPC分类号： G06F11/07
CPC分类号： G06F11/1438 , G06F11/0736 , G06F11/0739 , G06F11/076
摘要： This disclosure discloses a method and apparatus for monitoring a robot operating system. The method in an embodiment includes: obtaining process identities of to-be-monitored nodes in a group of to-be-monitored nodes; inquiring about state information of processes corresponding to the process identities; determining whether the to-be-monitored nodes are operating normally, based on the state information of the processes; and outputting information that the group of to-be-monitored nodes is abnormal, in response to a number of normally operating to-be-monitored nodes in the group of to-be-monitored nodes being below a predetermined threshold. In this embodiment, the nodes are monitored in groups to improve the efficiency of maintaining the robot operating system.
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公开(公告)号：US20180074756A1
公开(公告)日：2018-03-15
申请号：US15411604
申请日：2017-01-20
发明人： Yibing Liang , Kaiwen Feng , Bocong Liu , Zhuo Chen , Yu Ma , Wei He
IPC分类号： G06F3/06
CPC分类号： G06F3/0659 , B60W30/00 , G01S7/003 , G01S13/931 , G05B19/408 , G06F3/0604 , G06F3/0653 , G06F3/0656 , G06F3/067
摘要： This disclosures discloses a method and apparatus for acquiring data in a robot operating system. A specific implementation of the method includes: monitoring in real time a data storage area of an information acquirer, the information acquirer configured to acquire location state data of a driverless vehicle; obtaining updated data if the updated data are present in the data storage area; and storing the updated data into a data buffer corresponding to the information acquirer. The implementation improves the robustness of the data.
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公开(公告)号：US10608946B2
公开(公告)日：2020-03-31
申请号：US15410629
申请日：2017-01-19
发明人： Chengliang Deng , Wei He , Kaiwen Feng , Yu Ma , Bocong Liu , Zhuo Chen
IPC分类号： H04L12/851 , G06F9/448 , H04L12/24 , H04L12/833 , H04L29/08
摘要： The present application discloses a data flow processing method and apparatus for a data flow system. A specific implementation of the method includes: acquiring a to-be-processed data flow, and determining, according to a data flow processing instruction, at least one data flow processing node corresponding to the to-be-processed data flow and a passing order in which the to-be-processed data flow passes through the at least one data flow processing node; and connecting together the at least one data flow processing node according to the passing order to obtain a data flow processing channel, and importing the to-be-processed data flow to the data flow processing channel for data processing. This implementation improves the utilization of data flow processing nodes and the data flow processing efficiency.
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