CN109933487A - The monitoring method and device of intelligent robot - Google Patents
The monitoring method and device of intelligent robot Download PDFInfo
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Abstract
The invention discloses a kind of monitoring method of intelligent robot and devices.This method comprises: obtaining the CPU usage of intelligent robot in the first preset time；Determine the maximum value of the CPU usage of intelligent robot in the first preset time；Preset threshold is set according to the maximum value of CPU usage, wherein preset threshold is more than or equal to the maximum value of CPU usage；Every the current CPU usage of the second preset time monitoring intelligent robot, wherein the length of the first preset time is more than or equal to the length of the second preset time；Judge whether current CPU usage is more than preset threshold；In the case where being more than preset threshold, output abnormality prompt information.Through the invention, the monitoring effect to CPU usage is improved.
Description
Technical field
The present invention relates to robot fields, in particular to the monitoring method and device of a kind of intelligent robot.
Background technique
Intelligence machine human body generally meets its diversity and real-time demand using embedded real time system.In order to improve
The reliability and fault-tolerant ability of system, system design need to take certain fault-tolerant strategy.Monitoring system mode may be implemented fault-tolerant
System can be found that system exception when system occurs abnormal and carries out respective handling.The CPU usage of system is real-time system
Important indicator whether normal operation can characterize the time response and task status of system.Monitoring CPU utilization rate is a kind of
The technology of effective monitoring system stability.
Existing robot system does not account for CPU usage data mostly.In machine man-hour, due to certain abnormal or
Person's system design problem, CPU usage are more than certain threshold value, lead to cpu busy and are unable to real-time response and handle other tasks,
Customer experience and robot operational effect are influenced, massive losses and calamity may be brought to the life and property of people when serious
It is difficult.
For problem bad to CPU usage monitoring effect in the related technology, effective solution side is not yet proposed at present
Case.
Summary of the invention
The main purpose of the present invention is to provide a kind of monitoring method of intelligent robot and devices, to solve to make CPU
With the bad problem of rate monitoring effect.
To achieve the goals above, according to an aspect of the invention, there is provided a kind of monitoring method of intelligent robot,
This method comprises: obtaining the CPU usage of intelligent robot in the first preset time；It determines described in first preset time
The maximum value of the CPU usage of intelligent robot；Preset threshold is set according to the maximum value of the CPU usage, wherein described
Preset threshold is more than or equal to the maximum value of the CPU usage；Every the current CPU of the second preset time monitoring intelligent robot
Utilization rate, wherein the length of first preset time is more than or equal to the length of second preset time；Judge described current
CPU usage whether be more than the preset threshold；In the case where being more than the preset threshold, output abnormality prompt information.
Further, before the current CPU usage of the second preset time monitoring intelligent robot, the method
Further include: obtain the cycle of operation of each task in the currently running task of the intelligent robot；Calculate all task runs
The least common multiple in period, using the least common multiple as second preset time.
Further, monitoring the current CPU usage of intelligent robot every the second preset time includes: to pass through formula
CPU_Usage=100- (T*100)/1000 calculates the current CPU usage of the intelligent robot, wherein CPU_Usage table
Show that CPU usage, T indicate the execution time in idle task 1 second.
Further, in the case where being more than the preset threshold, output abnormality prompt information is included at least one of the following:
Output prompt information is alerted by LED；Prompt information is exported by voice warning；The upper syndicate in the effective situation of communication channel
Data of uniting export prompt information.
Further, in the case where being more than the preset threshold, after output abnormality prompt information, the method is also wrapped
It includes: determining the exception level of the intelligent robot according to the current CPU usage；It is first etc. in the exception level
In the case where grade, running in the intelligent robot CPU for task is continued to run；In the feelings that the exception level is the second grade
Under condition, the control system restarting of the intelligent robot is controlled；In the case where the exception level is the tertiary gradient, control
Make the control system shutdown of the intelligent robot.
To achieve the goals above, according to another aspect of the present invention, a kind of monitoring dress of intelligent robot is additionally provided
It sets, which includes: first acquisition unit, for obtaining the CPU usage of intelligent robot in the first preset time；It determines single
Member, for determining the maximum value of the CPU usage of the intelligent robot in first preset time；Setup unit is used for
Preset threshold is set according to the maximum value of the CPU usage, wherein the preset threshold is more than or equal to the CPU usage
Maximum value；Monitoring unit, for the CPU usage current every the second preset time monitoring intelligent robot, wherein described
The length of first preset time is more than or equal to the length of second preset time；Judging unit, it is described current for judging
Whether CPU usage is more than the preset threshold；Output unit, for exporting different in the case where being more than the preset threshold
Normal prompt information.
Further, described device further include: second acquisition unit, for monitoring intelligent machine every the second preset time
Before the current CPU usage of device people, the cycle of operation of each task in the currently running task of the intelligent robot is obtained；
Computing unit, it is pre- using the least common multiple as described second for calculating the least common multiple in all task run periods
If the time.
Further, the monitoring unit is used for: by described in formula CPU_Usage=100- (T*100)/1000 calculating
The current CPU usage of intelligent robot, wherein CPU_Usage indicates that CPU usage, T indicate holding in idle task 1 second
The row time.
To achieve the goals above, according to another aspect of the present invention, a kind of storage medium is additionally provided, including storage
Program, wherein equipment where controlling the storage medium in described program operation executes the prison of intelligent robot of the invention
Survey method.
To achieve the goals above, according to another aspect of the present invention, a kind of processor is additionally provided, for running journey
Sequence, wherein described program executes the monitoring method of intelligent robot of the invention when running.
The CPU usage that the present invention passes through intelligent robot in the first preset time of acquisition；It determines in the first preset time
The maximum value of the CPU usage of intelligent robot；Preset threshold is set according to the maximum value of CPU usage, wherein preset threshold
More than or equal to the maximum value of CPU usage；Every the current CPU usage of the second preset time monitoring intelligent robot, wherein
The length of first preset time is more than or equal to the length of the second preset time；Judge whether current CPU usage is more than default
Threshold value；In the case where being more than preset threshold, output abnormality prompt information is solved bad to CPU usage monitoring effect
Problem, and then improve the monitoring effect to CPU usage.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart of the monitoring method of intelligent robot according to a first embodiment of the present invention；
Fig. 2 is the flow chart of the monitoring method of intelligent robot according to a second embodiment of the present invention；And
Fig. 3 is the schematic diagram of the monitoring device of intelligent robot according to an embodiment of the present invention.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
The embodiment of the invention provides a kind of monitoring methods of intelligent robot.
Fig. 1 is the flow chart of the monitoring method of intelligent robot according to a first embodiment of the present invention, as shown in Figure 1, should
Method the following steps are included:
Step S102: the CPU usage of intelligent robot in the first preset time is obtained；
Step S104: the maximum value of the CPU usage of intelligent robot in the first preset time is determined；
Step S106: preset threshold is set according to the maximum value of CPU usage, wherein preset threshold makes more than or equal to CPU
With the maximum value of rate；
Step S108: every the current CPU usage of the second preset time monitoring intelligent robot, wherein first is default
The length of time is more than or equal to the length of the second preset time；
Step S110: judge whether current CPU usage is more than preset threshold；
Step S112: in the case where being more than preset threshold, output abnormality prompt information.
The CPU usage that the embodiment passes through intelligent robot in the first preset time of acquisition；Determine the first preset time
The maximum value of the CPU usage of interior intelligent robot；Preset threshold is set according to the maximum value of CPU usage, wherein default threshold
Value is more than or equal to the maximum value of CPU usage；The current CPU usage of intelligent robot is monitored every the second preset time,
In, the length of the first preset time is more than or equal to the length of the second preset time；Judge whether current CPU usage is more than pre-
If threshold value；In the case where being more than preset threshold, output abnormality prompt information is solved bad to CPU usage monitoring effect
The problem of, and then improve the monitoring effect to CPU usage.
The technical solution of the embodiment of the present invention can be applied to embedded real-time operating system and (including be not limited to
FreeRTOS robot) is needed when judging whether CPU usage is abnormal according to system reality in embodiments of the present invention
Operating condition sets suitable threshold value, and threshold value sets the too low error prompting that will lead to duration and occur more than threshold value, brings wrong report,
Threshold value setting is excessively high to will lead to prompting not in time, adverse effect is also brought along, it is necessary to set suitable threshold value.In threshold value
It when setting, needs to be set according to the maximum value of the CPU usage of intelligent robot in the first preset time, for example, can obtain
The maximum value of the CPU usage of the intelligent robot in the time span at least one period, such as 50% are taken, then sets one
A value higher than this maximum value is fault-tolerant to carry out as threshold value, such as 60% or 70%, and specific threshold value can be according to applied field
Scape being set and being adjusted, or according to using the time to be reset at regular intervals.Second preset time
It can be used every the CPU usage of the second preset time monitoring intelligent robot due to monitoring CPU the preset time
Rate itself also will increase CPU usage, thus every the second preset time to monitor CPU usage, rather than monitor always, it supervises
, can whether exceeded according to preset threshold decision utilization rate after the CPU usage for measuring robot, if it exceeds in advance
If threshold value, then it represents that utilization rate is exceeded, and in this case, robot leads to machine it is possible that system is unable to operate normally
People is out of control or independent behaviour is abnormal, influences robot normal work, therefore monitoring that CPU usage crosses the feelings of preset threshold
Under condition, prompt information is exported, it is abnormal to prompt robot to occur, so that user copes with or handles in time.
Optionally, before the current CPU usage of the second preset time monitoring intelligent robot, intelligent machine is obtained
The cycle of operation of each task in the currently running task of device people；The least common multiple for calculating all task run periods, will most
Small common multiple is as the second preset time.
Second preset time can be determined by the cycle of operation of all tasks, with the cycle of operation of all tasks
Least common multiple may insure the utilization rate that CPU can be collected in the second preset time range as the second preset time
Peak.Second preset time can also be twice or three times of least common multiple.
Optionally, monitoring the current CPU usage of intelligent robot every the second preset time includes: by formula CPU_
The current CPU usage of Usage=100- (T*100)/1000 computational intelligence robot, wherein CPU_Usage indicates that CPU makes
With rate, T indicates to execute the time in idle task 1 second.
It can be with by the current CPU usage of formula CPU_Usage=100- (T*100)/1000 computational intelligence robot
Keep the calculating of the CPU usage of robot more accurate.
Optionally, in the case where being more than preset threshold, output abnormality prompt information, which includes at least one of the following:, to be passed through
LED warning output prompt information；Prompt information is exported by voice warning；The reporting system number in the effective situation of communication channel
According to output prompt information.
If the current CPU usage of robot be more than preset threshold, prompt information can be issued with prompt user and
When handle, prompting mode is unlimited, for example, can pass through LED warning output prompt information；Or it is exported and is prompted by voice warning
Information；Or in the effective situation of communication channel reporting system detailed data so that user recognizes abnormal conditions in time,
To handle in time.
Optionally, true according to current CPU usage after exporting prompt information in the case where being more than preset threshold
Determine the exception level of intelligent robot；In the case where exception level is the first estate, continues to run and transported in intelligent robot CPU
Capable task；In the case where exception level is the second grade, the control system restarting of intelligent robot is controlled；In exception
In the case that grade is the tertiary gradient, the control system shutdown of intelligent robot is controlled.
Other than being suggested that when CPU usage is more than preset threshold, can also further it be determined according to CPU usage
Exception level, such as exception level include the first estate, the second grade and the tertiary gradient, wherein and the first estate is general exception,
Second grade is severely subnormal, and the tertiary gradient is pole severely subnormal, and different processing can be carried out according to different brackets, with into one
Raising system degree of intelligence is walked, for example, continuing to run task in the case where general exception, only issues and reminds, wait operator
Member's control instruction restarts after can waiting system resets in the case where severely subnormal and attempts to continue to run, in CR Critical feelings
Under condition, system-down can control, to avoid bigger loss and harm.Optionally, fortune can also be saved before restarting or shutting down
Capable data information, for carrying out anomaly analysis afterwards.
The embodiment of the invention also provides a kind of preferred embodiments, implement below with reference to preferred embodiment to the present invention
The technical solution of example is illustrated.
By taking real time operating system FreeRTOS as an example, increases in its system and calculate CPU usage function in real time, and to being
System is monitored and fault-tolerant processing.FreeRTOS is a kind of real time operating system of lightweight, medical instrument, the network equipment and
The numerous areas such as robot are widely used.
The CPU usage calculation formula of the embodiment of the present invention is as follows:
CPU_Usage=(100-(the execution time * 100 in idle task 1 second)/1000)
FreeRTOS does not support the CPU usage of individual task, therefore system totality CPU usage can only be calculated.
Algorithm realization principle: it is constantly to be switched between different tasks when operating system, passes through system tick
Carry out driving task switching scheduling, every generation primary system tick then judges whether that needing to carry out task cuts the (highest of running ready
Priority tasks).Since the priority of idle task is minimum, the runing time of its (1000tick) within a certain period of time is counted,
The CPU usage of system can be calculated.1tick=1ms, 1000tick=1000ms are generally configured in FreeRTOS.
For determining system, if each task in system is normal according to the running track of developer's design
Operation, then the execution time of each task can be in corresponding nominal range；For whole system, then system is overall
Runing time also can be in nominal range.If the CPU usage of system or certain tasks is abnormal, i.e., its runing time exceeds
Nominal range, then illustrate system entirety or in which certain tasks occur abnormal, need to carry out fault-tolerant processing at this time.
CPU usage monitoring cycle.CPU usage monitoring cycle influences important, excessive cycle, Ke Nengzao to monitoring effect
It is not accurate enough at the data of acquisition；Period is too short, and it will cause system resource wastes.In order to guarantee the reliable of monitoring data, supervise
The frequency of survey task is traditionally arranged to be the maximum frequency of operation equal to or more than other tasks in system；In application of less demanding
Occasion can suitably reduce monitor task running frequency.
CPU usage judges extremely.Embedded real time system is likely to be at different Working moulds during whole service
Formula, different working modes, different operating modes have different CPU usage exception determination requirements.When operating mode switches,
Its corresponding abnormal judgment criteria should be switched to.In practical application, embedded real time system is usually multitask system, task
CPU usage caused by dispatching is in cyclic curve form, and the period is the least common multiple in all task run periods.
After system in monitoring a period of time operates normally data, it can be collected into the period CPU usage curve, and can be somebody's turn to do
Practical CPU_Usage_Max (CPU usage maximum value) and CPU_Usage_Min (CPU usage minimum value) in the section time.
Fig. 2 is the flow chart of the monitoring method of intelligent robot according to a second embodiment of the present invention, as shown in Fig. 2, should
Method includes following procedure:
After starting monitor task, CPU usage is obtained, CPU usage is carried out and judges extremely, if it is judged that being no different
Often, then continue monitoring CPU usage and then carry out abnormality processing if it is judged that CPU usage is abnormal, if can be after reforwarding
Row, then continue to run system, can export prompt information prompt user and check processing, can not be after reforwarding if exception is more serious
Row can then be restarted or relationship with saving scene data, to be protected.
By taking a kind of simple abnormal judgement as an example, max-thresholds (CPU_ can be set according to practical CPU_Usage_Max
USAGE_THRESHOLD_MAX fault tolerance judgment) is carried out.If CPU_Usage_Max≤20, CPU_USAGE_THRESHOLD_
MAX can be configured to 50；If 20 < CPU_Usage_Max≤50, CPU_USAGE_THRESHOLD_MAX can be configured to 70；Such as
Fruit 50 < CPU_Usage_Max≤70, CPU_USAGE_THRESHOLD_MAX can be configured to 80.It is certain that system had both been given in this way
Mistake redundant space, while also guaranteeing to be handled in time when there is serious error.When CPU_Usage_Max is greater than CPU_
USAGE_THRESHOLD_MAX carries out abnormality processing.As science and technology is more and more flourishing, the frequency of CPU is higher and higher, processing
Ability is more and more stronger.In general when designing embedded real time system, suitable CPU should be chosen, when system operates normally most
Big CPU usage is not to be exceeded 70, guarantees that system has certain redundancy and scalability.
CPU usage abnormality processing.There is CPU usage exception in operation in embedded real time system, it may be possible to by more
Caused by kind reason.Consider from hardware point of view, it may be possible to which hardware device runnability has differences in different environments, more sternly
It is certain component failures when weight；Consider from software respective, in software running process, unexpected operation may be performed, such as appoints
The exception of business is dispatched, Transfer Parameters are abnormal etc..When monitoring CPU usage exception, active analysis leads to abnormal original first
Cause.Tell operator's system exception data by various modes, including be not limited to: LED warning, is communicating voice warning
Reporting system detailed data in the effective situation in channel.Handled according to the classification of severity of Exception Type: general abnormal --- be
System can continue to run, and wait operator's control instruction；Severely subnormal --- restarting after system reset can attempt to continue to run；Pole
Severely subnormal --- system is shut down immediately, avoids bigger loss and harm.System saving scene before restarting or shutting down is used for subsequent
Anomaly analysis.
In embodiments of the present invention, CPU usage calculates different according to different embedded system precision, and system needs non-
For easy property memory for saving system for field data etc., system may continue to work in certain known exception situation.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
The embodiment of the invention provides a kind of monitoring device of intelligent robot, which can be used for executing of the invention real
Apply the monitoring method of the intelligent robot of example.
Fig. 3 is the schematic diagram of the monitoring device of intelligent robot according to an embodiment of the present invention, as shown in figure 3, the device
Include:
First acquisition unit 10, for obtaining the CPU usage of intelligent robot in the first preset time；
Determination unit 20, for determining the maximum value of the CPU usage of intelligent robot in the first preset time；
Setup unit 30, for according to the maximum value of CPU usage set preset threshold, wherein preset threshold be greater than etc.
In the maximum value of CPU usage；
Monitoring unit 40, for the CPU usage current every the second preset time monitoring intelligent robot, wherein the
The length of one preset time is more than or equal to the length of the second preset time；
Judging unit 50, for judging whether current CPU usage is more than preset threshold；
Output unit 60 is used in the case where being more than preset threshold, output abnormality prompt information.
The embodiment uses first acquisition unit 10, and the CPU for obtaining intelligent robot in the first preset time is used
Rate；Determination unit 20, for determining the maximum value of the CPU usage of intelligent robot in the first preset time；Setup unit 30,
For setting preset threshold according to the maximum value of CPU usage, wherein preset threshold is more than or equal to the maximum value of CPU usage；
Monitoring unit 40, for every the current CPU usage of the second preset time monitoring intelligent robot, wherein first it is default when
Between length be more than or equal to the second preset time length；Judging unit 50, for judge current CPU usage whether be more than
Preset threshold；Output unit 60, in the case where being more than preset threshold, output abnormality prompt information, solving to make CPU
With the bad problem of rate monitoring effect, and then improve to CPU usage monitoring effect.
Optionally, the device further include: second acquisition unit, for monitoring intelligent robot every the second preset time
Before current CPU usage, the cycle of operation of each task in the currently running task of intelligent robot is obtained；It calculates single
Member, for calculating the least common multiple in all task run periods, using least common multiple as the second preset time.
Optionally, monitoring unit 40 is used for: passing through formula CPU_Usage=100- (T*100)/1000 computational intelligence machine
The current CPU usage of people, wherein CPU_Usage indicates that CPU usage, T indicate the execution time in idle task 1 second.
The embodiment of the present invention can be used for robot interior embedded software real time monitoring, avoid due to CPU usage mistake
It is high and cause thrashing to cause robot is out of control or independent behaviour is abnormal, guarantee robot normal operation, provided more for user
Good usage experience.
The monitoring device of the intelligent robot includes processor and memory, above-mentioned monitoring unit, judging unit, output
Unit etc. as program unit storage in memory, by processor execute above procedure unit stored in memory Lai
Realize corresponding function.
Include kernel in processor, is gone in memory to transfer corresponding program unit by kernel.Kernel can be set one
Or more, it improves by adjusting kernel parameter to CPU usage monitoring effect.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/
Or the forms such as Nonvolatile memory, if read-only memory (ROM) or flash memory (flash RAM), memory include that at least one is deposited
Store up chip.
The embodiment of the invention provides a kind of storage mediums, are stored thereon with program, real when which is executed by processor
The monitoring method of the existing intelligent robot.
The embodiment of the invention provides a kind of processor, the processor is for running program, wherein described program operation
The monitoring method of intelligent robot described in Shi Zhihang.
The embodiment of the invention provides a kind of equipment, equipment include processor, memory and storage on a memory and can
The program run on a processor, processor performs the steps of when executing program obtains intelligence machine in the first preset time
The CPU usage of people；Determine the maximum value of the CPU usage of intelligent robot in the first preset time；According to CPU usage
Maximum value sets preset threshold, wherein preset threshold is more than or equal to the maximum value of CPU usage；It is supervised every the second preset time
Survey the current CPU usage of intelligent robot, wherein the length of the first preset time is more than or equal to the length of the second preset time
Degree；Judge whether current CPU usage is more than preset threshold；In the case where being more than preset threshold, output abnormality prompt letter
Breath.Equipment herein can be server, PC, PAD, mobile phone etc..
Present invention also provides a kind of computer program products, when executing on data processing equipment, are adapted for carrying out just
The program of beginningization there are as below methods step: the CPU usage of intelligent robot in the first preset time is obtained；Determine that first is default
The maximum value of the CPU usage of intelligent robot in time；Preset threshold is set according to the maximum value of CPU usage, wherein pre-
If threshold value is more than or equal to the maximum value of CPU usage；It is used every the current CPU of the second preset time monitoring intelligent robot
Rate, wherein the length of the first preset time is more than or equal to the length of the second preset time；Whether judge current CPU usage
More than preset threshold；In the case where being more than preset threshold, output abnormality prompt information.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In a typical configuration, calculating equipment includes one or more processors (CPU), input/output interface, net
Network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/
Or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable Jie
The example of matter.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices
Or any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including element
There is also other identical elements in process, method, commodity or equipment.
It will be understood by those skilled in the art that embodiments herein can provide as method, system or computer program product.
Therefore, complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used in the application
Form.It is deposited moreover, the application can be used to can be used in the computer that one or more wherein includes computer usable program code
The shape for the computer program product implemented on storage media (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
The above is only embodiments herein, are not intended to limit this application.To those skilled in the art,
Various changes and changes are possible in this application.It is all within the spirit and principles of the present application made by any modification, equivalent replacement,
Improve etc., it should be included within the scope of the claims of this application.
Claims (10)
1. a kind of monitoring method of intelligent robot characterized by comprising
Obtain the CPU usage of intelligent robot in the first preset time；
Determine the maximum value of the CPU usage of the intelligent robot in first preset time；
Preset threshold is set according to the maximum value of the CPU usage, wherein the preset threshold is more than or equal to the CPU and makes
With the maximum value of rate；
Every the current CPU usage of the second preset time monitoring intelligent robot, wherein the length of first preset time
More than or equal to the length of second preset time；
Judge whether the current CPU usage is more than the preset threshold；
In the case where being more than the preset threshold, output abnormality prompt information.
2. the method according to claim 1, wherein current every the second preset time monitoring intelligent robot
CPU usage before, the method also includes:
Obtain the cycle of operation of each task in the currently running task of the intelligent robot；
The least common multiple for calculating all task run periods, using the least common multiple as second preset time.
3. the method according to claim 1, wherein current every the second preset time monitoring intelligent robot
CPU usage includes:
The current CPU usage of the intelligent robot is calculated by formula CPU_Usage=100- (T*100)/1000,
In, CPU_Usage indicates that CPU usage, T indicate the execution time in idle task 1 second.
4. the method according to claim 1, wherein be more than the preset threshold in the case where, output abnormality
Prompt information includes at least one of the following:
Output prompt information is alerted by LED；
Prompt information is exported by voice warning；
Reporting system data export prompt information in the effective situation of communication channel.
5. the method according to claim 1, wherein be more than the preset threshold in the case where, output abnormality
After prompt information, the method also includes:
The exception level of the intelligent robot is determined according to the current CPU usage；
In the case where the exception level is the first estate, running in the intelligent robot CPU for task is continued to run；
In the case where the exception level is the second grade, the control system restarting of the intelligent robot is controlled；
In the case where the exception level is the tertiary gradient, the control system shutdown of the intelligent robot is controlled.
6. a kind of monitoring device of intelligent robot characterized by comprising
First acquisition unit, for obtaining the CPU usage of intelligent robot in the first preset time；
Determination unit, for determining the maximum value of the CPU usage of the intelligent robot in first preset time；
Setup unit, for setting preset threshold according to the maximum value of the CPU usage, wherein the preset threshold is greater than
Equal to the maximum value of the CPU usage；
Monitoring unit, for the CPU usage current every the second preset time monitoring intelligent robot, wherein described first
The length of preset time is more than or equal to the length of second preset time；
Judging unit, for judging whether the current CPU usage is more than the preset threshold；
Output unit is used in the case where being more than the preset threshold, output abnormality prompt information.
7. device according to claim 6, which is characterized in that described device further include:
Second acquisition unit, for obtaining before the current CPU usage of the second preset time monitoring intelligent robot
The cycle of operation of each task in the currently running task of intelligent robot；
Computing unit, for calculating the least common multiple in all task run periods, using the least common multiple as described
Two preset times.
8. device according to claim 6, which is characterized in that the monitoring unit is used for:
The current CPU usage of the intelligent robot is calculated by formula CPU_Usage=100- (T*100)/1000,
In, CPU_Usage indicates that CPU usage, T indicate the execution time in idle task 1 second.
9. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein run in described program
When control the storage medium where equipment perform claim require any one of 1 to 5 described in intelligent robot monitoring side
Method.
10. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Benefit require any one of 1 to 5 described in intelligent robot monitoring method.
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| CN201711378624.7A CN109933487B (en) | 2017-12-19 | Intelligent robot monitoring method and device |
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| CN201711378624.7A CN109933487B (en) | 2017-12-19 | Intelligent robot monitoring method and device |
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