Open Distributed Robot Control Software Framework
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Solution Overview
Problem
Existing autonomous robot control software architectures lack openness and generality, being limited to specific hardware platforms and applications, and fail to provide standardized interfaces for interoperability between heterogeneous modules, which hinders the mass production of user-oriented robots with real-time performance.
Innovation Solution
An open distributed processing structured robot control software architecture that allows the combination of independent heterogeneous modules using a network-based system with standardized spec files, virtual machines, communication middleware, and a task language based on XML for late binding and real-time channel management, enabling modular development, maintenance, and upgrade.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a specific hardware platform is used for robot implementation, then the robot can be developed with modularized functional components, but the system lacks openness and cannot achieve interoperability between heterogeneous platforms
Solution Approach 1:
The patent introduces a hardware abstraction layer (HAL) as an intermediary between the control software and physical hardware components. This HAL provides standardized interface definitions and implementation-specific adapters, allowing the same modular software components to operate across different hardware platforms without modification. The abstraction layer mediates between the universal software modules and platform-specific hardware, enabling both manufacturability through standardization and adaptability through platform independence.
Solution Approach 2:
The system is segmented into distinct layers: hardware abstraction layer, control software layer, and application layer. Each functional component is divided into independent, reusable modules with well-defined interfaces. This segmentation allows modules to be developed, tested, and manufactured separately while maintaining the ability to integrate across heterogeneous platforms through standardized interface contracts.
2Reliability
If autonomous robot control software architectures are designed for specific applications, then they can achieve functional completeness, but they lack generality and cannot be used as general-purpose architectures
Solution Approach 1:
The control software architecture is designed with universal, platform-independent functional modules that can serve multiple application domains. Core modules for perception, planning, and control are implemented in a generic manner, while application-specific behavior is achieved through configurable parameters and modular task definitions. This allows the same architecture to reliably control different types of robots (mobile, manipulator, humanoid) across various applications without sacrificing functional completeness.
Solution Approach 2:
The architecture employs dynamic task loading and configuration mechanisms that allow the robot system to adapt its functional capabilities based on the specific application requirements. Task definitions and behavioral parameters can be modified at runtime, enabling the general-purpose architecture to specialize for specific applications when needed while maintaining the ability to switch between different operational modes and applications.
3Adaptability or versatility
If standardized interfaces are imposed on hardware and software for interoperability, then module combination becomes feasible, but manufacturing flexibility and use of unique technologies are limited
Solution Approach 1:
The patent applies the principle of local quality by allowing each manufacturing entity to maintain unique, optimized implementations of the hardware abstraction layer and application-specific modules while adhering to standardized interface contracts. The standardization requirement is localized to the interface definitions and communication protocols, while the internal implementation details, manufacturing processes, and proprietary technologies can vary locally according to each manufacturer's capabilities and optimizations. This enables module interoperability through standardized interfaces while preserving manufacturing flexibility and the ability to incorporate unique technologies.
Data Source
AI summary
An open distributed processing structured robot control software architecture is enclosed, which makes it possible to manufacture a user-oriented robot through combination of independent heterogeneous functional modules. The invention involves an open software framework for integrated operation and production of distributed software of the modules, and an autonomous robot control architecture suitable for distributed environments. The software framework indicates underlying software components for robot control and service creation. The invention makes it possible to mass-produce autonomous robots in units of interoperable functional modules. It is also possible to meet various demands of consumers, achieve specialization, and accelerate technology development since the development procedures are specialized in an independent manner and are suitable for manufacturing a wide variety of robot products in small quantities.