Ring Buffer Storage for Multi-Sensor Mobile Robot Data
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Solution Overview
Problem
The challenge is to efficiently store outputs from various sensors mounted on a mobile robot with different sampling periods and data volumes using a compact hardware configuration, as existing methods require significant memory and struggle to maintain relationships between sampling data.
Innovation Solution
A storage device with a first storage region for each sensor's sampling data and a second storage region for integrated data sets, generated at a predetermined timing, using a ring buffer format, which reduces memory capacity and allows for efficient log creation and analysis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Quantity of substance
If all sensor outputs are stored with individual ring buffers for each sensor, then complete sensor data can be retained, but memory capacity requirements become excessively large
Solution Approach 1:
The patent merges multiple sensor data streams into a single integrated ring buffer by creating a data set that combines sampling data from all sensors at synchronized time points. Instead of maintaining separate ring buffers for each sensor, the system integrates sensor data from multiple sources into one unified structure, thereby reducing total memory requirements while preserving complete sensor information through proper time synchronization and data integration
2Ease of operation
If separate ring buffers are allocated for each sensor, then each sensor's data can be stored independently, but the relationship between sampling data from different sensors becomes difficult to establish
Solution Approach 1:
The patent performs preliminary time synchronization and data integration when sensor outputs are generated. By creating data sets that pre-align sensor data from multiple sources at synchronized time points before storage, the system establishes temporal relationships between sensors in advance. This preliminary action eliminates the need for complex post-processing to correlate data between separate buffers, making data relationship analysis straightforward while maintaining a simplified single-buffer storage structure
3Quantity of substance
If a single ring buffer is used for integrated sensor data, then memory capacity is reduced, but data from sensors with different sampling periods becomes difficult to synchronize
Solution Approach 1:
The patent implements dynamic data collection and integration logic that adapts to different sensor sampling periods. The control unit dynamically determines when to create data sets by monitoring the sampling timing of each sensor and triggering integration at appropriate synchronization points. This dynamic approach allows the system to handle irregular sampling intervals from different sensors while maintaining precise temporal alignment in the integrated data set, all within a single ring buffer structure
Data Source
AI summary
Provided is a storage device including: a first storage region comprising a plurality of sensor regions for the plurality of the sensors; a second storage region into which a data set is written, the data set being generated by reading, from the respective plurality of sensor regions, sampling data of a sensor having a longest sampling period among the plurality of sensors for one period and sampling data of other sensors for a period corresponding to the period in which the sampling data of the sensor for the one period is generated and integrating the sampling data; and a control unit configured to write the sampling data of the plurality of sensors into the plurality of sensor regions, respectively, in a ring buffer format and generate the data set at a predetermined timing and write the data set into the second storage region in the ring buffer format.