FAULT TOLERANCE METHOD AND APPARATUS FOR ROBOT SOFTWARE COMPONENT
First Claim
1. An apparatus for performing fault tolerance against a failure occurring during driving robot software components, the apparatus comprising:
- a component executor for executing the robot software components, which are assigned with one thread from an operating system and have a same priority and cycle, by using the assigned thread;
an executor monitor for periodically monitoring the operation of the component executor and determining whether or not there is a failure in the robot software components executed by the component executor; and
an executor manager for generating the component executor which is assigned with the robot software components having the same priority and cycle and, when the executor monitor determines that there is a failure in the execution of the robot software components, generating a new component executor.
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Abstract
An apparatus for performing fault tolerance against a failure occurring during driving robot software components includes: a component executor for executing the robot software components, which are assigned with one thread from an operating system and have a same priority and cycle, by using the assigned thread; and an executor monitor for periodically monitoring the operation of the component executor and determining whether or not there is a failure in the robot software components executed by the component executor. The apparatus further includes: an executor manager for generating the component executor which is assigned with the robot software components having the same priority and cycle and, when the executor monitor determines that there is a failure in the execution of the robot software components, generating a new component executor.
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Citations
20 Claims
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1. An apparatus for performing fault tolerance against a failure occurring during driving robot software components, the apparatus comprising:
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a component executor for executing the robot software components, which are assigned with one thread from an operating system and have a same priority and cycle, by using the assigned thread; an executor monitor for periodically monitoring the operation of the component executor and determining whether or not there is a failure in the robot software components executed by the component executor; and an executor manager for generating the component executor which is assigned with the robot software components having the same priority and cycle and, when the executor monitor determines that there is a failure in the execution of the robot software components, generating a new component executor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for performing fault tolerance against a failure occurring during driving robot software components, the method comprising:
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assigning robot software components having a same priority and cycle to a component executor; executing, on the component executor, the robot software components by using a thread assigned to the components from an operating system; notifying an executor monitor of the execution result; and determining, by the executor monitor, whether or not a failure has occurred during the execution of the robot software components, and generating a new component executor by an executor manager if it is determined that there is a failure during the execution of robot software components. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification