Robot middleware naming service self-stabilizing method

A robot middleware and naming service technology, applied in the field of robots, can solve problems such as no solution found and users unable to create new modules

Inactive Publication Date: 2014-03-26
BEIJING UNIV OF TECH
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  • Summary
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the naming server fails to work due to network congestion and other reasons, the connected robot modules will continue to run, but the user has no access rights, and the user cannot create new modules or control the current robot module system, which will lead to a series of serious consequences
Such problems in the RTM system have not yet found a suitable solution

Method used

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  • Robot middleware naming service self-stabilizing method
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  • Robot middleware naming service self-stabilizing method

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Embodiment Construction

[0043] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0044] The flow chart of the method involved in the present invention is as attached figure 1 shown, including the following steps:

[0045] Step one, improve the system structure.

[0046] (1) Add a backup name server to the nodes distributed on the network.

[0047] (2) Improve the system communication rules:

[0048] In the original system, modules registered their information with the name server through a one-way channel. In the new system, through the two-way communication between the module and the name server, the module receives the election result information, that is, the address information of the new name server.

[0049] In the original system, the user obtains information on all available modules through a one-way channel. In the new system, users are notified when the election process begins and are notified of the election...

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Abstract

The invention belongs to the field of robots, and discloses a robot middleware naming service self-stabilizing method. Firstly, a plurality of standby naming servers are added to a system to improve a system communication structure, the newly-added naming servers are in normal communication with a current system, and a plurality of running states are defined for the naming servers; then, the naming servers are evaluated according to a computer where the naming servers are located and according to the states of the naming servers, and an identification code which represents the health degree of the environment where the naming servers are located is obtained; finally, the health degree of the environment where the naming servers are located is taken as a standard, and the naming server with the highest health degree is selected from the standby naming servers to enter the leading state. The selection concept in distributed calculation is introduced, and therefore the naming server self-stabilizing effect is achieved; a mathematical evaluation model of the condition of the health degrees of the environment where the naming servers are located is put forward through an information entropy thought, and a reasonable and effect solution is provided for evaluating the environment where the naming servers run.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a self-stabilizing method for a robot control software naming server, in particular to a method for improving a system structure, a method for improving a dynamic model, a method for evaluating a naming server, and an election method. Background technique [0002] OpenRTM-aist is an open source middleware platform developed by Japan National Institute of Advanced Industrial Science and Technology (AIST), which adopts CORBA (Common Object Request Broker Architecture, Common Object Request Broker Architecture) architecture. RTM technology effectively shields the complexity of the underlying operating system, enables program developers to face a simple and unified development environment, reduces the complexity of program design, and eliminates the differences between development languages ​​and network protocols. Various communication service mechanisms are provided. In the intelligent robot s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F9/46
Inventor 贾松敏屈文彬庞雄伟郭兵董政胤李秀智
Owner BEIJING UNIV OF TECH
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