A method, device and medium for improving throughput of an IROS system

Abstract

The application discloses a method, device and medium for improving the throughput of an IROS system, belongs to the technical field of intelligent machine operating systems, and aims to solve the technical problem that the existing IROS system has high switching cost between the user state and the kernel state, high CPU cost, and the throughput of the IROS system is restricted when the system is called. The method comprises the following steps: performing robot-specific compatible processing on a Linux kernel system to obtain an RLinux system; performing cutting on an Ubuntu Linux system through the RLinux system to obtain a simplified IROS system; and according to a preset kernel calling direct function library, calling and intercommunicating the kernel function system in the RLinux system and the simplified IROS system. The IROS system can run and access the kernel function in the user state as much as possible, the frequent switching between the user state and the kernel state is reduced, the cost of the robot CPU is reduced, and the throughput of the IROS system is greatly improved.

Description

Technical Field

[0001] This application relates to the field of intelligent machine operating systems, and more particularly to a method, apparatus, and medium for improving the throughput of an IROS system. Background Technology

[0002] ROS (Robot Operating System) is an open-source meta-operating system for robots. It provides the services expected of an operating system, including hardware abstraction, low-level device control, implementation of commonly used functions, inter-process message passing, and package management. It also provides tools and libraries needed to acquire, compile, write, and run code across computers. ROS runs on Ubuntu Linux. ROS's primary goal is to support code reuse in robot research and development. IROS (Intelligent Robot Operating System) has similar functionality to ROS, replacing the open-source ROS kernel and providing ROS-compatible interfaces.

[0003] Compared to Linux, the existing ROS / IROS system is an application (a low-level application). Most of its functions run in user mode, but when system calls are involved, it runs in kernel mode. In high-throughput scenarios, a large number of user mode and kernel mode switches occur, and the switching cost between user mode and kernel mode is very high, which seriously restricts the performance of ROS / IROS. Summary of the Invention

[0004] This application provides a method, device, and medium for improving the throughput of an IROS system, which addresses the following technical problem: existing IROS systems suffer from high switching costs and high CPU overhead when making system calls, thus limiting the throughput of the IROS system.

[0005] The embodiments of this application adopt the following technical solutions:

[0006] On one hand, embodiments of this application provide a method for improving the throughput of an IROS system. The method includes: performing robot-specific compatibility processing on a Linux kernel system to obtain an RLinux system; using the RLinux system, trimming the Unbutun Linux system to obtain a simplified IROS system; and enabling interoperability between the simplified IROS system and the kernel functional system in the RLinux system according to a preset kernel call passthrough function library.

[0007] This application embodiment simplifies the IROS system by providing a preset kernel call passthrough function library and reducing IROS system calls, enabling the IROS system to run and access kernel functions in user mode as much as possible, reducing frequent switching between user mode and kernel mode, thereby reducing the cost of the robot's CPU and greatly improving the throughput of the IROS system.

[0008] In one feasible implementation, the Linux kernel system is processed for robot-specific compatibility to obtain the RLinux system. Specifically, this includes: obtaining a new function library that meets the functional requirements of the robot-specific Linux system; and combining the Linux kernel system with the new function library to obtain the RLinux system.

[0009] In one feasible implementation, the Unbutu Linux system is trimmed using the RLinux system to obtain a simplified IROS system. Specifically, this includes: trimming the non-essential functions for robot application operation in the Unbutu Linux system using the RLinux system to obtain the IROS system and the essential functions for robot application operation; and combining the IROS system and the essential functions for robot application operation to obtain the simplified IROS system.

[0010] This application embodiment uses RLinux, based on the new standard Linux kernel, to trim Unbutu Linux, retaining only the functions necessary for IROS and robot applications to run, and removing unnecessary operating overhead, thereby improving both performance and security.

[0011] In one feasible implementation, the simplified IROS system and the kernel functional system in the RLinux system are made interoperable based on a preset kernel call passthrough function library. Specifically, this includes: obtaining the preset kernel call passthrough function library based on the call function library types of the RLinux system and the IROS system; and using the preset kernel call passthrough function library to enable data exchange between the simplified IROS system in user mode and the kernel functional system in kernel mode. This allows the simplified IROS system in user mode to access the kernel functional system in kernel mode without switching to the kernel functional system for data processing operations.

[0012] This application embodiment adds a preset kernel call passthrough function library to the RLinux system, which enables the IROS system to access kernel functions from user mode without switching between user mode and kernel mode, thereby reducing CPU cost overhead.

[0013] In one feasible implementation, the call passthrough function types in the preset kernel call passthrough function library are related to memory access call functions and file access call functions.

[0014] The call passthrough function types added to the preset kernel call passthrough function library in this embodiment can effectively target function types that are frequently called by the IROS system, thereby minimizing the frequent switching between user mode and kernel mode in the IROS system.

[0015] In one feasible implementation, the RLinux system further includes the original memory access function library and file access function library in the Linux kernel system.

[0016] In one feasible implementation, the robot is subjected to system calls based on the original memory access function library and file access function library to complete other operational functions of the robot; wherein, the other operational functions are functions common to both the Linux kernel system and the RLinux system.

[0017] In this embodiment, the robot application achieves high-performance throughput by calling a simplified IROS system, while also continuing to use functions from the original Linux function library to implement other robot functions.

[0018] In one feasible implementation, the simplified IROS system is also used to support cloud-based robot development, cloud-edge-device communication, and multi-robot collaboration.

[0019] Secondly, embodiments of this application also provide an apparatus for improving the throughput of an IROS system, the apparatus comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method for improving the throughput of an IROS system as described in any of the above embodiments.

[0020] Thirdly, embodiments of this application also provide a non-volatile computer storage medium, characterized in that the storage medium is a non-volatile computer-readable storage medium, the non-volatile computer-readable storage medium stores at least one program, each program including instructions, and when the instructions are executed by a terminal, the terminal performs a method for improving the throughput of an IROS system as described in any of the above embodiments.

[0021] This application provides a method, device, and medium for improving the throughput of an IROS system. By providing a preset kernel call passthrough function library and reducing IROS system calls, the IROS system is simplified to run in user mode as much as possible to access kernel functions, reducing frequent switching between user mode and kernel mode, thereby reducing the cost of the robot's CPU and greatly improving the throughput of the IROS system. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0023] Figure 1 A flowchart illustrating a method for improving the throughput of an IROS system, as provided in this application embodiment;

[0024] Figure 2 A schematic diagram of the throughput of an IROS system provided in an embodiment of this application;

[0025] Figure 3 This is a schematic diagram of a device for improving the throughput of an IROS system, provided as an embodiment of this application. Detailed Implementation

[0026] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0027] This application provides a method for improving the throughput of an IROS system, such as... Figure 1 As shown, the method for improving the throughput of the IROS system specifically includes steps S101-S103:

[0028] S101. Perform robot-specific compatibility processing on the Linux kernel system to obtain the RLinux system.

[0029] Specifically, based on the requirements of the robot-specific Linux system, a new function library that meets the required functionalities is obtained. The Linux kernel system is then combined with the new function library to obtain the RLinux system.

[0030] As a feasible implementation method, a new function library for a robot-specific Linux system is released based on the Linux kernel system, and then a robot-specific RLinux system is obtained through compatible combination with the new function library.

[0031] The RLinux system includes the original memory access and file access function libraries from the Linux kernel. Based on these libraries, the robot makes system calls to perform other operational functions. These other functions are common to both the Linux kernel and the RLinux system.

[0032] In one embodiment, the memory access function library and file access function library in both the Linux kernel system and the RLinux system are frequently accessed. Therefore, the original memory access function library and file access function library in the Linux kernel system are retained in the RLinux system. While achieving the high throughput of the IROS system, the original function libraries in the Linux kernel system can still be used to implement the functions common to both the Linux kernel system and the RLinux system.

[0033] S102. By using the RLinux system, the Unbutu Linux system is trimmed to obtain a simplified IROS system.

[0034] Specifically, by using the RLinux system, non-essential functions for robot applications in the Unbutu Linux system are removed to obtain the IROS system and the essential functions for robot applications. Combining the IROS system and the essential functions for robot applications yields the simplified IROS system.

[0035] As a feasible implementation method, the RLinux system is based on the new version of the standard Linux kernel system. It trims down the UnbutuLinux system, retaining only the functions necessary for the IROS system and robot applications to run, and removing unnecessary overhead. This improves the throughput of the IROS system and enhances its security.

[0036] The simplified IROS system is also used to support cloud-based robot development, cloud-edge-device communication, and multi-robot collaboration.

[0037] As a feasible implementation method, the simplified IROS system has similar functions to the ROS system, replaces the kernel of the open-source ROS system, provides ROS-compatible interfaces, solves ROS reliability, performance, security and other related issues, and adds new functions, such as supporting cloud robot development, supporting cloud-edge-device communication, and supporting multi-robot collaboration.

[0038] S103. Based on the preset kernel call passthrough function library, the kernel function system of the simplified IROS system and RLinux system can be called and communicated.

[0039] Specifically, a preset kernel call passthrough library is obtained based on the call function library types of the RLinux system and the IROS system. This preset kernel call passthrough library enables data communication between the simplified IROS system in user mode and the kernel functional system in kernel mode; thus, when the simplified IROS system in user mode calls or accesses the kernel functional system in kernel mode, the simplified IROS system does not need to switch to the kernel functional system for data processing operations.

[0040] In one embodiment, Figure 2 A schematic diagram of the throughput of an IROS system provided in this application embodiment is shown below. Figure 2 As shown, ROS / IROS is a lower-level application compared to Linux. A typical robot operating system is... Figure 2 In this system, the robot application interacts with the IROS system, and the IROS system interacts with the function library. These three parts belong to the user mode of the robot operating system, which are the three modules above the dotted line separator. Then, the user-mode function library interacts with the kernel-mode system calls, and the system calls then interact with the kernel functions. In other words, it is necessary to switch from user mode to kernel mode for the user-mode IROS system and the kernel-mode kernel functions to perform data processing. However, by using a preset kernel call passthrough function library, the IROS system can directly call and access the kernel-mode kernel functions in user mode without switching back and forth between user mode and kernel mode. It is equivalent to opening a new green channel for system calls. By using the preset kernel call passthrough function library, the IROS system can directly call and access kernel functions, thereby reducing CPU cost and greatly improving the throughput of the IROS system.

[0041] Among them, the call passthrough function types in the preset kernel call passthrough function library are related to memory access call functions and file access call functions.

[0042] As a feasible implementation method, the call passthrough function types in the newly added preset kernel call passthrough function library mainly include various types of function libraries related to memory access call functions and file access call functions. It also includes function libraries that are frequently called by the IROS system. This allows the IROS system to directly call and access kernel functions in kernel mode through the newly added preset kernel call passthrough function library as a green channel.

[0043] In addition, embodiments of this application also provide a device for improving the throughput of an IROS system, such as... Figure 3 As shown, the device 300 for improving the throughput of the IROS system specifically includes:

[0044] At least one processor 301. And a memory 302 communicatively connected to the at least one processor 301; wherein the memory 302 stores instructions executable by the at least one processor 301, enabling the at least one processor 301 to execute:

[0045] The Linux kernel system is modified to be compatible with robots, resulting in the RLinux system;

[0046] By modifying the Unbutu Linux system using the RLinux system, a simplified IROS system can be obtained.

[0047] Based on the preset kernel call passthrough function library, the kernel function calls between the IROS system and the RLinux system will be simplified and interconnected.

[0048] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0049] This application provides a method, device, and medium for improving the throughput of an IROS system. By providing a preset kernel call passthrough function library and reducing IROS system calls, the IROS system is simplified to run in user mode as much as possible to access kernel functions, reducing the frequent switching between user mode and kernel mode, thereby reducing the cost of the robot's CPU and greatly improving the throughput of the IROS system.

[0050] The various embodiments in this application are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments for devices and non-volatile computer storage media are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0051] The foregoing has described specific embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0052] The above description is merely an embodiment of this application and is not intended to limit this application. For those skilled in the art, various modifications and variations can be made to the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the embodiments of this application should be included within the scope of the claims of this application.

Claims

1. A method for improving the throughput of an IROS system, characterized in that, The method includes: The Linux kernel system is modified for robot-specific compatibility to obtain the RLinux system, which specifically includes: Based on the requirements of the robot-specific Linux system, acquire a new function library that meets the required functionalities; The Linux kernel system is combined with the new function library to obtain the RLinux system; By modifying the Unbutu Linux system using the RLinux system, a simplified IROS system is obtained, specifically including: By using the RLinux system, the non-essential functions for robot applications in the Unbutu Linux system are removed to obtain the IROS system and the essential functions for robot applications. The simplified IROS system is obtained by combining the IROS system with the functions necessary for the operation of the robot application. Based on a preset kernel call passthrough library, the simplified IROS system and the kernel function system of the RLinux system are made interoperable through calls, specifically including: Based on the call function library types of the RLinux system and the IROS system, the preset kernel call passthrough function library is obtained; By using the preset kernel call passthrough function library, data communication is established between the simplified IROS system in user mode and the kernel functional system in kernel mode. This allows the simplified IROS system in user mode to access the kernel functional system in kernel mode without switching to the kernel functional system for data processing. The call passthrough function types in the preset kernel call passthrough function library are related to memory access call functions and file access call functions; The RLinux system also includes the original memory access function library and file access function library in the Linux kernel system; Based on the original memory access function library and file access function library, system calls are made to the robot to complete other operational functions of the robot; wherein, the other operational functions are functions common to both the Linux kernel system and the RLinux system; The simplified IROS system is also used to support cloud-based robot development, cloud-edge-device communication, and multi-robot collaboration.

2. A device for improving the throughput of an IROS system, characterized in that, The device includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method for improving the throughput of an IROS system according to any one of claims 1.

3. A non-volatile computer storage medium, characterized in that, The storage medium is a non-volatile computer-readable storage medium that stores at least one program, each program including instructions that, when executed by a terminal, cause the terminal to perform a method for improving the throughput of an IROS system according to any one of claims 1.

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