Method and apparatus for acquiring data in a robot operating system

Patent metadata

Field	Value
Publication number	US-10261724-B2
Application number	US-201715411604-A
Country	US
Kind code	B2
Filing date	Jan 20, 2017
Priority date	Sep 12, 2016
Publication date	Apr 16, 2019
Grant date	Apr 16, 2019

Abstract

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.

First claim

What is claimed is:

1. A method for acquiring data in a robot operating system, the method comprising:
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,
wherein obtaining the updated data if the updated data are present in the data storage area comprises:
checking a temporal tag of the updated data, if there are updated data in the data storage area, and
obtaining the updated data, if a time difference between a time point corresponding to the temporal tag and a current time point is below a preset threshold.

2. The method according to claim 1 , wherein the storing the updated data into the data buffer corresponding to the information acquirer comprises:
storing the updated data into the data buffer area corresponding to the information acquirer in an acquisition order; and
recording the temporal tag of the updated data into a temporal window, the temporal window configured to define data stored in the data buffer area based on the temporal tag.

3. The method according to claim 2 , wherein the recording the temporal tag of the updated data into the temporal window comprises:
placing the temporal tag at a first place in a temporal tag sequence of the temporal window in a reception order.

4. The method according to claim 3 , wherein the storing the updated data into the data buffer corresponding to the information acquirer further comprises:
deleting in the temporal tag sequence a temporal tag having a time difference between a time point corresponding to the temporal tag and a time point corresponding to the temporal tag at the first place above a preset temporal threshold, and deleting in the data buffer area data corresponding to the temporal tag.

5. An apparatus for acquiring data in a robot operating system, the apparatus comprising:
a monitoring unit configured to monitor in real time a data storage area of an information acquirer, the information acquirer configured to acquire location state data of a driverless vehicle;
an updated data obtaining unit configured to obtain updated data if the updated data are present in the data storage area; and
a storing unit configured to store the updated data into a data buffer corresponding to the information acquirer,
wherein the updated data obtaining unit comprises:
a temporal tag checking sub-unit configured to check a temporal tag of the updated data, if there are updated data in the data storage area, and to obtain the updated data, if a time difference between a time point corresponding to the temporal tag and a current time point is below a preset threshold.

6. The apparatus according to claim 5 , wherein the storing unit comprises:
a storing sub-unit configured to store the updated data into the data buffer area corresponding to the information acquirer in an acquisition order; and
a temporal tag storing sub-unit configured to record the temporal tag of the updated data into a temporal window, the temporal window configured to define data stored in the data buffer area based on the temporal tag.

7. The apparatus according to claim 6 , wherein the temporal tag storing sub-unit comprises:
a position setting module configured to place the temporal tag at a first place in a temporal tag sequence of the temporal window in a reception order.

8. The apparatus according to claim 7 , wherein the storing unit further comprises:
a data deleting sub-unit configured to delete in the temporal tag sequence a temporal tag having a time difference between a time point corresponding to the temporal tag and a time point corresponding to the temporal tag at the first place above a preset temporal threshold, and delete in the data buffer area data corresponding to the temporal tag.

9. A non-transitory storage medium storing one or more programs, the one or more programs when executed by a device, causing the device to perform a method for acquiring data in a robot operating system, the method comprising:
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,
wherein the obtaining the updated data if the updated data are present in the data storage area comprises:
checking a temporal tag of the updated data, if there are updated data in the data storage area, and
obtaining the updated data, if a time difference between a time point corresponding to the temporal tag and a current time point is below a preset threshold.

Assignees

• Beijing Baidu Netcom Sci & Tec

Inventors

• Liang Yibing
• Feng Kaiwen
• Liu Bocong
• Chen Zhuo
• Ma Yu
• He Wei

Classifications

• G06F3/0659 Primary

  Command handling arrangements, e.g. command buffers, queues, command scheduling · CPC title

• B60W30/00

  Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units · CPC title

• G01S7/003

  Transmission of data between radar, sonar or lidar systems and remote stations · CPC title

• G06F3/0604

  Improving or facilitating administration, e.g. storage management · CPC title

• G06F3/0656

  Data buffering arrangements · CPC title