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1.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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2.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：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：US10331521B2
公开(公告)日：2019-06-25
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
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：US20180075119A1
公开(公告)日：2018-03-15
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： G06F17/30 , B60R16/023
CPC分类号： G06F16/27 , B60R16/0231
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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7.发明申请公开(公告)号：US20180067788A1
公开(公告)日：2018-03-08
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 , G06F11/3024 , G06F11/3055 , G06F2209/508 , Y10S901/50
摘要： This discloure 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 debuging cost, and improve the monitoring efficiency.
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公开(公告)号：US10343630B2
公开(公告)日：2019-07-09
申请号：US15410451
申请日：2017-01-19
发明人： Wei He , Haifeng Wang , Yu Ma , Chengliang Deng , Weide Zhang , Zhuo Chen
摘要： The present application discloses a monitoring method and apparatus. A specific implementation of the method comprises: reading information about monitoring data acquisition methods of monitored objects, the monitoring data acquisition method comprising an active acquisition method and a passive acquisition method; executing following steps for each of the monitored objects having the active acquisition method as the monitoring data acquisition method: generating a monitoring data acquisition task of the monitored object; determining a monitoring data acquisition frequency of the monitored object; and adding the monitoring data acquisition task to to-be-executed monitoring data acquisition task sets in a defined period corresponding to the monitoring data acquisition frequency; executing, in successive defined periods, monitoring data acquisition tasks in the corresponding to-be-executed monitoring data acquisition task sets; and parsing acquired monitoring data of the monitored objects to generate a monitoring result. The implementation solves the problem of high system resource occupation and waste of system resources during the monitoring process.
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9.发明授权公开(公告)号：US10127092B1
公开(公告)日：2018-11-13
申请号：US16039144
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 debuging cost, and improve the monitoring efficiency.
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公开(公告)号：US20180077232A1
公开(公告)日：2018-03-15
申请号：US15410188
申请日：2017-01-19
发明人： Haifeng Wang , Weide Zhang , Zhuo Chen , Wei He , Kaiwen Feng , Jingchao Feng
CPC分类号： H04L67/1034 , H04L41/0668 , H04L41/0893 , H04L43/0817 , H04L43/10 , H04L67/1095 , H04L67/141
摘要： The present application discloses a method and device for establishing communication connection. An embodiment of the method includes: selecting a predetermined number of servers from a server cluster to form a backup server cluster, the server cluster including at least one server adapted to implement a given service; obtaining communication information of each backup server in the backup server cluster, and selecting a backup server from the backup server cluster as a master server based on the communication information of the backup server; and sending the communication information of the master server to controlled equipment controlled by the server cluster to establish communication connection between the master server and the controlled equipment. The embodiment solves a problem of reliability raised when main server abnormally quits or restarts during the operation of a system.
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