Service information management method and system based on iros

Abstract

The application discloses a service information management method and system based on IROS, belongs to the technical field of intelligent robot operating system and information management, and aims to solve the technical problem that current service communication mechanism cannot query basic service information after single-point failure of a service end, and adopts the technical scheme that the method is characterized in that an RMASTER control node and an IROS parameter service node of IROS are deployed and run on a robot terminal, based on the sharing characteristic of the IROS parameter service node, storage, acquisition and display of IROS service information are realized by calling corresponding parameter operation API, and the method is characterized in that service information is saved and service information is queried.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot operating systems and information management technology, specifically to a service information management method and system based on IROS. Background Technology

[0002] The Intelligent Robot Operating System (IROS) is a secondary operating system that runs on top of Linux. It provides standardized development interfaces and data processing flows, including hardware abstraction description, inter-program communication, and package management.

[0003] IROS's communication mechanism forms the foundation for its loosely coupled, point-to-point distributed architecture. This includes asynchronous topic communication, synchronous service communication, and a shared parameter server. Based on these communication methods, IROS enables rapid message retrieval, transmission, and distribution. In IROS, service communication can be embedded in node code as an API or compiled as a standalone dynamic library and dynamically loaded by the rservice service.

[0004] The current service communication mechanism suffers from the problem of being unable to query basic service information after a single point of failure on the server side: when any process providing a specified service stops working or rservice exits, the basic service information becomes unavailable. This fails to meet the needs of developers who require querying basic service information when the service has been registered but not started, and also fails to meet the distributed query requirements of cloud-based robots running services in the cloud, where all nodes can query the information. Summary of the Invention

[0005] The technical objective of this invention is to provide a service information management method and system based on IROS to solve the problem that the current service communication mechanism cannot query basic service information after a single point of failure on the server side.

[0006] The technical objective of this invention is achieved as follows: a service information management method based on IROS. This method involves deploying and running an IROS RMASTER control node and an IROS parameter service node on a robot terminal. Based on the shared characteristics of the IROS parameter service node, the method stores, retrieves, and displays IROS service information by calling corresponding parameter operation APIs. Specifically:

[0007] Service information storage;

[0008] Service information inquiry.

[0009] Preferably, the robot terminal communicates in real time with service nodes of other robot terminals via 4G, 5G or WIFI.

[0010] As a preferred option, the service information is stored as follows:

[0011] Create a service node: Create a Node node for the service;

[0012] Register the service with the RMASTER control node: Call the service creation interface to register the service with the RMASTER control node, and at the same time save the relevant service information corresponding to the service to the IROS parameter service node; the service information saved to the IROS parameter service node includes the service name, the node to which the service belongs, and the data type of the service interaction.

[0013] Service information rule-based processing: The service information is processed according to rules, and a string composed of a special identifier, the node to which the service belongs, and the service name is used as the key, and the service interaction data type is used as the value to form key-value pair parameters of the service IROS parameter service node;

[0014] Query Check: Check if the corresponding Key exists based on the Key value:

[0015] If so, update the Value.

[0016] If not, create new parameter information.

[0017] More preferably, service information is queried using the irosservice query tool. This tool retrieves a list of services registered with RMASTER, the types of data exchanged between services, and information about the nodes to which the services belong. Specifically:

[0018] When querying currently active services, the query tool irosservice obtains the list of currently active services through RMASTER and obtains the service interaction data type from the IROS parameter service node;

[0019] When querying inactive services, the query tool irosservice directly obtains parameter information with any special identifier prefixed by the IROS parameter service node. By analyzing the parameter key-value information, it obtains the service name, the node to which the service belongs, and the data type of the service interaction.

[0020] As a preferred option, when querying the currently active service, the details are as follows:

[0021] Enter the command to start the query tool irosservice, and enter the startup parameter listalive;

[0022] After the parameter listalive is started, the query tool irosservice obtains the list of currently active services through RMASTER.

[0023] The service interaction data type is obtained by using the IROS parameter service node, thereby displaying the service name, the node to which the service belongs, and the service interaction data type on the robot terminal.

[0024] As a preferred method, when querying inactive services, the specific steps are as follows:

[0025] Enter the command to start the query tool irosservice, and enter the startup parameter listdead;

[0026] After the parameter listdead is started, the query tool irosservice directly obtains parameter information with a special prefix from the IROS parameter server;

[0027] By analyzing parameter key-value information, we can obtain the service name, the node to which the service belongs, and the data type of the service interaction.

[0028] An IROS-based service information management system is provided. The system deploys and runs IROS RMASTER control nodes and IROS parameter service nodes on robot terminals. Based on the shared characteristics of IROS parameter service nodes, the system can store, retrieve and display IROS service information by calling the corresponding parameter operation API. At the same time, the system can use the service information query tool irosservice to query the list of services registered with RMASTER, the data types of service interaction, and the information of the nodes to which the services belong.

[0029] Among them, the RMASTER control node is used to register service information through the service creation interface;

[0030] The IROS parameter service node is used to store service information.

[0031] As a preferred method, the query tool irosservice provides the following details regarding the list of services registered with RMASTER, the types of data exchanged between services, and the information about the nodes to which the services belong:

[0032] When querying currently active services, the query tool irosservice obtains a list of currently active services through RMASTER and retrieves the service interaction data type from the IROS parameter service node; specifically as follows:

[0033] Enter the command to start the query tool irosservice, and enter the startup parameter listalive;

[0034] After the parameter listalive is started, the query tool irosservice obtains the list of currently active services through RMASTER.

[0035] The service interaction data type is obtained through the IROS parameter service node, thereby displaying the service name, the node to which the service belongs, and the service interaction data type on the robot terminal;

[0036] When querying inactive services, the query tool irosservice directly obtains parameter information prefixed with any special identifier from the IROS parameter service node. By analyzing the parameter key-value information, it obtains the service name, the node to which the service belongs, and the data type of the service interaction; specifically as follows:

[0037] Enter the command to start the query tool irosservice, and enter the startup parameter listdead;

[0038] After the parameter listdead is started, the query tool irosservice directly obtains parameter information with a special prefix from the IROS parameter server;

[0039] By analyzing parameter key-value information, we can obtain the service name, the node to which the service belongs, and the data type of the service interaction.

[0040] An electronic device includes: a memory and at least one processor;

[0041] The memory contains computer programs;

[0042] The at least one processor executes the computer program stored in the memory, causing the at least one processor to perform the IROS-based service information management method as described above.

[0043] A computer-readable storage medium storing a computer program that can be executed by a processor to implement the IROS-based service information management method described above.

[0044] The service information management method and system based on IROS of the present invention have the following advantages:

[0045] (i) This invention solves the problem that the current service communication mechanism cannot query basic service information after a single point of failure of the server. It meets the needs of developers to query basic service information when the service has been registered but not started. It also meets the distributed query requirements of cloud-based robots running services in the cloud, where each node can query the service.

[0046] (ii) The IROS parameter service node of the present invention can store, update or retrieve parameters in various custom forms. With simple settings, all nodes can call the corresponding API to perform relevant parameter information operations. Furthermore, the parameter server meets the distributed requirements of cloud-based robots storing data in the cloud and querying it by all nodes.

[0047] (III) Based on the sharing characteristics of IROS parameter service nodes, this invention realizes the storage, retrieval and display of IROS service-related information; when an IROS parameter service node registers a service with RMASTER, it will simultaneously save the service-related information to the parameter server RPARAM. The information to be saved includes the service name, the node to which the service belongs, and the service interaction data type.

[0048] (iv) Since the IROS parameter server stipulates that parameters can only be stored in key-value pairs, the service information needs to be processed into rules before it is saved to the parameter server RPARAM. A string composed of a special identifier, the node to which the service belongs, and the service name is used as the key, and the service interaction data type is used as the value. Then it is saved to the IROS parameter server. When retrieving the IROS service information registered on MASTSER, it is only necessary to query the IROS parameter service node according to the corresponding rules. Attached Figure Description

[0049] The invention will be further described below with reference to the accompanying drawings.

[0050] Appendix Figure 1 This is a schematic diagram of a service information management method based on IROS.

[0051] Appendix Figure 2 A flowchart for saving service information;

[0052] Appendix Figure 3 A flowchart for service information retrieval. Detailed Implementation

[0053] The IROS-based service information management method and system of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0054] Example 1:

[0055] As attached Figure 1 As shown, this embodiment provides a service information management method based on IROS. This method involves deploying and running an IROS RMASTER control node and an IROS parameter service node on a robot terminal. Based on the shared characteristics of the IROS parameter service node, the method utilizes corresponding parameter operation APIs to store, retrieve, and display IROS service information. Specifically:

[0056] S1. Service information storage;

[0057] S2, Service Information Inquiry.

[0058] The robot terminal in this embodiment has sufficient space to create and save service information.

[0059] In this embodiment, the robot terminal communicates in real time with the service nodes of other robot terminals via 4G, 5G, or WIFI.

[0060] As attached Figure 2 As shown, the service information saving in step S1 of this embodiment is as follows:

[0061] S101. Create Service Node: Create a Node for the service;

[0062] S102. Register the service with the RMASTER control node: Call the service creation interface to register the service with the RMASTER control node, and at the same time save the relevant service information corresponding to the service to the IROS parameter service node; the service information saved to the IROS parameter service node includes the service name, the node to which the service belongs, and the data type of the service interaction.

[0063] S103, Service Information Rule Processing: The service information is processed according to rules, and a string composed of a special identifier, the node to which the service belongs, and the service name is used as the key, and the service interaction data type is used as the value to form the key-value pair parameter of the service IROS parameter service node;

[0064] S104. Query and Determination: Check if the corresponding Key exists based on the Key value.

[0065] ① If so, update the Value;

[0066] ② If not, create new parameter information.

[0067] In this embodiment, the service information query in step S2 uses the query tool irosservice. irosservice queries the list of services registered with RMASTER, the data types of service interactions, and information about the nodes to which the services belong; the specifics are as follows:

[0068] ① When querying currently active services, the query tool irosservice obtains the list of currently active services through RMASTER and obtains the service interaction data type from the IROS parameter service node;

[0069] ② When querying inactive services, the query tool irosservice directly obtains parameter information with any special identifier prefixed by the IROS parameter service node. By analyzing the parameter key-value information, it obtains the service name, the node to which the service belongs, and the data type of the service interaction.

[0070] In this embodiment, as shown in the appendix Figure 3 As shown, when querying the currently active service, the details are as follows:

[0071] (1) Enter the startup command for the query tool irosservice and enter the startup parameter listalive;

[0072] (2) After the parameter listalive is started, the query tool irosservice obtains the list of currently active services through RMASTER;

[0073] (3) Obtain the service interaction data type through the IROS parameter service node, and then display the service name, the service node and the service interaction data type on the robot terminal.

[0074] In this embodiment, as shown in the appendix Figure 3 As shown, when querying inactive services, the specifics are as follows:

[0075] (1) Enter the startup command for the query tool irosservice and enter the startup parameter listdead;

[0076] (2) After the parameter listdead is started, the query tool irosservice directly obtains parameter information with a special prefix from the IROS parameter server.

[0077] (3) By analyzing the parameter key information, obtain the service name, the node to which the service belongs, and the data type of the service interaction.

[0078] Example 2:

[0079] This embodiment provides a service information management system based on IROS. The system deploys and runs IROS RMASTER control node and IROS parameter service node on the robot terminal. Based on the sharing characteristics of IROS parameter service node, the system can store, retrieve and display IROS service information by calling the corresponding parameter operation API. At the same time, the system can use the service information query tool irosservice to query the list of services registered with RMASTER, the data types of service interaction, and the information of the nodes to which the services belong.

[0080] Among them, the RMASTER control node is used to register service information through the service creation interface;

[0081] The IROS parameter service node is used to store service information.

[0082] As attached Figure 2As shown, the implementation of this embodiment requires the Node node creating the service to call the IROS service creation interface. The IROS service creation interface registers the service with the RMASTER control node and saves the relevant service information to the IROS parameter service node. According to the service query requirements, the information to be saved to the IROS parameter service node includes the service name, the node to which the service belongs, and the service interaction data type. Since the IROS parameter service node stipulates that parameters can only be saved in key-value pairs, the service information needs to be regularized before being saved to the IROS parameter service node. A string composed of a special identifier, the node to which the service belongs, and the service name is used as the key, and the service interaction data type is used as the value. First, the key value is checked to see if it exists. If it exists, the value is updated; otherwise, new parameter information is created. The specific processing procedure is as follows:

[0083] Step 1: Create a service node and call the service creation interface to register the service with the RMASTER control node;

[0084] Step 2: Perform rule-based processing on the service information, using a string composed of a special identifier, the node to which the service belongs, and the service name as the key, and the service interaction data type as the value, to form key-value pairs that conform to the IROS parameter service node specifications;

[0085] Step 3: Check if the key value exists based on the key value:

[0086] If it exists, update the Value.

[0087] If it does not exist, create new parameter information.

[0088] As attached Figure 3 As shown, the implementation of this embodiment requires the implementation of the IROS service information query tool irosservice. The irosservice tool can query information such as the list of services registered with RMASTER, service interaction data types, and the nodes to which services belong. When querying currently active services, the irosservice tool obtains the list of currently active services through RMASTER and retrieves the service interaction data types from the IROS parameter service nodes. When querying inactive services, the irosservice tool directly obtains parameter information prefixed with a special identifier from the IROS parameter service nodes. By analyzing the parameter key-value information, it obtains the service name, the node to which the service belongs, and the service interaction data types. The specific processing procedure is as follows:

[0089] Step 1: Enter the startup command for the query tool irosservice. When you need to query the currently active services, enter the startup parameter listalive. After startup, the query tool irosservice obtains the list of currently active services through RMASTER and obtains the service interaction data type through the IROS parameter service node, thereby displaying the service name, the node to which the service belongs, and the service interaction data type on the terminal.

[0090] Step 2: Enter the startup command for the query tool irosservice. To query inactive services, enter the startup parameter listdead. After startup, the query tool irosservice directly obtains parameter information with a special identifier prefixed to the IROS parameter service node. By analyzing the parameter key-value information, it obtains the service name, the node to which the service belongs, and the data type of the service interaction.

[0091] Example 3:

[0092] This embodiment also provides an electronic device, including: a memory and a processor;

[0093] The memory stores the instructions executed by the computer.

[0094] The processor executes computer execution instructions stored in the memory, causing the processor to perform the IROS-based service information management method in any embodiment of the present invention.

[0095] The processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor can be a microprocessor or any conventional processor.

[0096] Memory is used to store computer programs and / or modules. The processor implements various functions of the electronic device by running or executing the computer programs and / or modules stored in the memory, and by accessing data stored in the memory. Memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system, at least one application program required for a function, etc.; the data storage area can store data created based on the use of the terminal, etc. In addition, memory can also include high-speed random access memory, and can also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, smart memory cards (SMC), secure digital cards (SD cards), flash memory cards, at least one disk storage device, flash memory devices, or other volatile solid-state storage devices.

[0097] Example 4:

[0098] This embodiment also provides a computer-readable storage medium storing multiple instructions, which are loaded by a processor to cause the processor to execute the IROS-based service information management method according to any embodiment of the present invention. Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the above embodiments is stored, and the computer (or CPU or MPU) of the system or apparatus may read and execute the program code stored in the storage medium.

[0099] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of the present invention.

[0100] Storage media embodiments for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RYM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0101] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0102] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion unit connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion unit execute some and all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0103] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A service information management method based on IROS, characterized in that, This method involves deploying and running an IROS RMASTER control node and an IROS parameter service node on the robot terminal. Based on the shared nature of the IROS parameter service node, it enables the storage, retrieval, and display of IROS service information by calling the corresponding parameter operation APIs; specifically as follows: Service information storage; Service information inquiry; Among them, the robot terminal communicates in real time with the service nodes of other robot terminals via 4G, 5G or WIFI. The service information is saved in the following ways: Create a service node: Create a Node node for the service; Register the service with the RMASTER control node: Call the service creation interface to register the service with the RMASTER control node, and at the same time save the relevant service information corresponding to the service to the IROS parameter service node; the service information saved to the IROS parameter service node includes the service name, the node to which the service belongs, and the data type of the service interaction. Service information rule-based processing: The service information is processed according to rules, and a string composed of a special identifier, the node to which the service belongs, and the service name is used as the key, and the service interaction data type is used as the value to form key-value pair parameters of the service IROS parameter service node; Query Check: Check if the corresponding Key exists based on the Key value: If so, update the Value. If not, create new parameter information; Service information is queried using the irosservice tool. irosservice queries the list of services registered with RMASTER, the types of data exchanged between services, and information about the nodes to which the services belong. Details are as follows: When querying currently active services, the query tool irosservice obtains the list of currently active services through RMASTER and obtains the service interaction data type from the IROS parameter service node; When querying inactive services, the query tool irosservice directly obtains parameter information with any special identifier prefixed by the IROS parameter service node. By analyzing the parameter key-value information, it obtains the service name, the node to which the service belongs, and the data type of the service interaction. When querying the currently active service, the details are as follows: Enter the command to start the query tool irosservice, and enter the startup parameter listalive; After the parameter listalive is started, the query tool irosservice obtains the list of currently active services through RMASTER. The service interaction data type is obtained through the IROS parameter service node, thereby displaying the service name, the node to which the service belongs, and the service interaction data type on the robot terminal; When querying inactive services, the details are as follows: Enter the command to start the query tool irosservice, and enter the startup parameter listdead; After the parameter listdead is started, the query tool irosservice directly obtains parameter information with a special prefix from the IROS parameter server; By analyzing parameter key-value information, we can obtain the service name, the node to which the service belongs, and the data type of the service interaction.

2. A service information management system based on IROS, characterized in that, The system deploys and runs RMASTER control nodes and IROS parameter service nodes on robot terminals. Based on the shared characteristics of IROS parameter service nodes, it stores, retrieves, and displays IROS service information by calling the corresponding parameter operation APIs. At the same time, it uses the service information query tool irosservice to query the list of services registered with RMASTER, the data types of service interactions, and the information of the nodes to which the services belong. The robot terminal communicates in real time with the service nodes of other robot terminals via 4G, 5G, or WIFI. Among them, the RMASTER control node is used to register service information through the service creation interface; The IROS parameter service node is used to store service information. Specifically, storing service information involves: creating a service node: creating a Node node for the service; registering the service with the RMASTER control node: calling the service creation interface to register the service with the RMASTER control node, and simultaneously saving the relevant service information to the IROS parameter service node; the service information saved to the IROS parameter service node includes the service name, the node to which the service belongs, and the service interaction data type; service information regularization: performing regularization on the service information, using a string composed of a special identifier, the node to which the service belongs, and the service name as the key, and the service interaction data type as the value, forming key-value pair parameters for the service IROS parameter service node; query and judgment: checking if the corresponding key exists based on the key value: if yes, updating the value; if no, creating new parameter information. The following details the query tool irosservice's query for the list of services registered with RMASTER, the types of data the services interact with, and the information about the nodes to which the services belong: When querying currently active services, the query tool irosservice obtains a list of currently active services through RMASTER and retrieves the service interaction data type from the IROS parameter service node; specifically as follows: Enter the command to start the query tool irosservice, and enter the startup parameter listalive; After the parameter listalive is started, the query tool irosservice obtains the list of currently active services through RMASTER. The service interaction data type is obtained through the IROS parameter service node, thereby displaying the service name, the node to which the service belongs, and the service interaction data type on the robot terminal; When querying inactive services, the query tool irosservice directly obtains parameter information prefixed with any special identifier from the IROS parameter service node. By analyzing the parameter key-value information, it obtains the service name, the node to which the service belongs, and the data type of the service interaction; specifically as follows: Enter the command to start the query tool irosservice, and enter the startup parameter listdead; After the parameter listdead is started, the query tool irosservice directly obtains parameter information with a special prefix from the IROS parameter server; By analyzing parameter key-value information, we can obtain the service name, the node to which the service belongs, and the data type of the service interaction.

3. An electronic device, characterized in that, include: Memory and at least one processor; The memory contains computer programs; The at least one processor executes the computer program stored in the memory, causing the at least one processor to perform the IROS-based service information management method as described in claim 1.

4. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that can be executed by a processor to implement the IROS-based service information management method as described in claim 1.

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