Method and apparatus for monitoring robot operating system

Patent metadata

Field	Value
Publication number	US-2018074878-A1
Application number	US-201715410454-A
Country	US
Kind code	A1
Filing date	Jan 19, 2017
Priority date	Sep 14, 2016
Publication date	Mar 15, 2018
Grant date	—

Abstract

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.

First claim

What is claimed is:

1 . A method for monitoring a robot operating system, the method comprising:
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, wherein the predetermined threshold is acquired through an inquiry of preset monitoring configuration information.

2 . The method according to claim 1 , wherein the monitoring configuration information further comprises names of executable files corresponding to the to-be-monitored nodes and names of function packs comprising the executable files; and
before the obtaining process identities of to-be-monitored nodes in a group of to-be-monitored nodes, the method further comprises: determining executable files to be executed, according to the names of the executable files, and the names of the function packs comprising the executable files; executing the executable files to be executed to start the to-be-monitored nodes; and recording the process identities of the to-be-monitored nodes.

3 . The method according to claim 1 , wherein the determining whether the to-be-monitored nodes are operating normally, based on the state information of the processes comprises:
determining whether the to-be-monitored nodes are in an operating state, based on the state information of the processes; obtaining time points of transmitting data by the to-be-monitored nodes, in response to determining the to-be-monitored nodes being in the operating state, based on the state information of the processes; counting numbers of times of transmitting data by the to-be-monitored nodes in a predetermined period, according to the time points of transmitting data by the to-be-monitored nodes; and determining that the to-be-monitored nodes are operating normally, in response to the counted numbers of times being in a preset range.

4 . The method according to claim 1 , wherein the monitoring configuration information further comprises names of to-be-monitored parameters and a range of values of the to-be-monitored parameters corresponding to the names of the to-be-monitored parameters, the to-be-monitored parameters are generated by the to-be-monitored nodes in operation; and the determining whether the to-be-monitored nodes are operating normally, based on the state information of the processes comprises:
determining whether the to-be-monitored nodes are in an operating state, based on the state information of the processes; obtaining the to-be-monitored parameters corresponding to the names of the to-be-monitored parameters, in response to determining the to-be-monitored nodes being in the operating state, based on the state information of the processes; and determining that the to-be-monitored nodes are operating normally, in response to the obtained to-be-monitored parameters being in the range of values of the to-be-monitored parameters.

5 . The method according to claim 1 , wherein the 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 comprises:
outputting information that the group of to-be-monitored nodes is abnormal, and performing a preset operation, 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, wherein the preset operation comprises restarting abnormally operating nodes in the group of to-be-monitored nodes.

6 . An apparatus for monitoring a robot operating system, the apparatus comprising:
an obtaining unit configured to obtain process identities of to-be-monitored nodes in a group of to-be-monitored nodes; an inquiring unit configured to inquire about state information of processes corresponding to the process identities; a determining unit configured to determine whether the to-be-monitored nodes are operating normally, based on the state information of the processes; and an outputting unit configured to output 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, wherein the predetermined threshold is acquired through an inquiry of preset monitoring configuration information.

7 . The apparatus according to claim 6 , wherein the monitoring configuration information further comprises names of executable files corresponding to the to-be-monitored nodes and names of function packs comprising the executable files; and
the apparatus further comprises: an executable file determining unit configured to determine executable files to be executed, according to the names of the executable files, and the names of the function packs comprising the executable files; an executing unit configured to execute the executable files to be executed to start the to-be-monitored nodes; and a recording unit configured to record the process identities of the to-be-monitored nodes.

8 . The apparatus according to claim 6 , wherein the determining unit comprises:
an operating state determining sub-unit configured to determine whether the to-be-monitored nodes are in an operating state, based on the state information of the processes; an time point obtaining sub-unit configured to obtain time points of transmitting data by the to-be-monitored nodes, in response to determining the to-be-monitored nodes being in the operating state, based on the state information of the processes; a counting sub-unit configured to count numbers of times of transmitting data by the to-be-monitored nodes in a predetermined period, according to the time points of transmitting data by the to-be-monitored nodes; and a first determining sub-unit configured to determine that the to-be-monitored nodes are operating normally, in response to the counted numbers of times being in a preset range.

9 . The apparatus according to claim 6 , wherein the monitoring configuration information further comprises names of to-be-monitored parameters and a range of values of the to-be-monitored parameters corresponding to the names of the to-be-monitored parameters, the to-be-monitored parameters are generated by the to-be-monitored nodes in operation; and
the determining unit comprises: an operating state determining sub-unit configured to determine whether the to-be-monitored nodes are in an operating state, based on the state information of the processes; an obtaining sub-unit configured to obtain the to-be-monitored parameters corresponding to the names of the to-be-monitored parameters, in response to determining the to-be-monitored nodes being in the operating state, based on the state information of the processes; and a seconding determining sub-unit configured to determine that the to-be-monitored nodes are operating normally, in response to the obtained to-be-monitored parameters being in the range of values of the to-be-monitored parameters.

10 . The apparatus according to claim 6 , wherein the outputting unit is further configured to:
output information that the group of to-be-monitored nodes is abnormal, and perform a preset operation, in response to a number of normally operating to-be-monitored nodes in the grou

Assignees

• Beijing Baidu Netcom Sci & Tec

Inventors

• Ma Yu
• Zhang Weide
• He Wei
• Wang Haifeng
• Chen Zhuo
• Liang Yibing

Classifications

• G06F11/1438 Primary

  Restarting or rejuvenating · CPC title

• H04L43/16

  Threshold monitoring · CPC title

• G06F11/0736

  in functional embedded systems, i.e. in a data processing system designed as a combination of hardware and software dedicated to performing a certain function (testing or monitoring of automated control systems G05B23/02) · CPC title

• H04L43/0817 Primary

  by checking functioning · CPC title

• G06F11/076

  by exceeding a count or rate limit, e.g. word- or bit count limit · CPC title