Method and apparatus for acquiring data in a robot operating system

• US 10,261,724 B2
• Filed: 01/20/2017
• Issued: 04/16/2019
• Est. Priority Date: 09/12/2016
• Status: Active Grant

• Current Assignee: Beijing Baidu Netcom Science and Technology Company Limited (Baidu Incorporated)
• Original Assignee: Beijing Baidu Netcom Science and Technology Company Limited (Baidu Incorporated)
• Inventors: Liang, Yibing, Feng, Kaiwen, Liu, Bocong, Chen, Zhuo, Ma, Yu, He, Wei
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US15/411,604
• Publication Number:
  US 20180074756A1
• Time in Patent Office: 816 Days
• CPC Class Codes: B60W 30/00 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 Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations
• CPC Class Codes: G05B 19/408 characterised by data handling or data format, e.g. reading, buffering or conversion of data
• CPC Class Codes: G06F 3/0604 Improving or facilitating administration, e.g. storage management
• CPC Class Codes: G06F 3/0653 Monitoring storage devices or systems
• CPC Class Codes: G06F 3/0656 Data buffering arrangements
• CPC Class Codes: G06F 3/0659 Command handling arrangements, e.g. command buffers, queues, command scheduling
• CPC Class Codes: G06F 3/067 Distributed or networked storage systems, e.g. storage area networks [SAN], network attached storage [NAS]
• CPC Class Codes: G07C 5/085 using electronic data carriers

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.

Claims

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.