Robot Interconnection Middleware for Heterogeneous Message Translation
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Solution Overview
Problem
Current software and interface programs lack the necessary genericity to ensure effective communication and interoperability between heterogeneous mobile robots and sensors, which are often equipped with different physical characteristics and operating software systems, hindering complex task execution and cooperation.
Innovation Solution
A method for interconnecting robots using a second program that formats and transmits messages according to a predefined object structure, allowing for message conversion, translation, and secure transmission between robots, utilizing JSON format and different transport protocols like UDP and TCP, with encryption and decryption capabilities, to facilitate communication and cooperation among robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a generic interface program is implemented to enable communication between heterogeneous robots, then interoperability is improved, but system complexity increases due to the need for message formatting, translation, and protocol handling
Solution Approach 1:
The patent implements a middleware program that acts as an intermediary layer between heterogeneous robots. This middleware includes a message formatting module that converts messages into a standardized structure, a translation module that translates between different communication protocols, and a message queue that manages message routing. By introducing this intermediary layer, the system enables communication between robots with different operating systems and protocols without requiring direct integration between each robot pair, thus improving interoperability while managing complexity through centralization.
Solution Approach 2:
The patent creates a universal message structure that can accommodate multiple message types (commands, requests, information) and supports multiple transport protocols (UDP, TCP). The message formatting module uses a standardized JSON-based structure with fields for message type, source, destination, and payload, allowing the same interface program to handle communication across diverse robot platforms. This universal approach allows a single generic interface program to serve multiple functions across heterogeneous systems.
2Adaptability or versatility
If message translation and formatting modules are added to enable heterogeneous communication, then adaptability is improved, but processing time increases due to conversion and translation operations
Solution Approach 1:
The patent implements a message queue that pre-processes and buffers incoming messages before they require translation or routing. The message formatting module pre-structures messages using a standardized template during message creation, rather than formatting them during transmission. Additionally, the system pre-establishes protocol mappings in the translation module, allowing for faster lookup and conversion during actual message processing. These preliminary actions reduce the processing time required during critical communication phases.
Solution Approach 2:
The patent uses JSON format as a universal copy structure that can represent messages from different protocols in a standardized form. Instead of performing complex real-time conversions between proprietary message formats, the system creates JSON representations of incoming messages that preserve the essential data structure and semantics. This copying approach using a universal data format accelerates the translation process while maintaining communication compatibility.
Data Source
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AI summary
Disclosed is a method for interconnecting a first robot (1) with at least one second robot (2, 21), each robot (1, 2, 21) at least comprising: a first program (P1) configured to drive at least one communication unit; a second program (P2), the configuration of which is determined by a parameterizing file containing a 'typ_service' field that indicates one of two transmission modes, i.e. an interpretation mode or a direct mode; a third program (P3) configured to control at least one actuator and/or at least one sensor. The disclosed method involves the following steps: upon reception of a first message from the third program (P3), the second program (P2): - converts the first message into a second message that is formatted according to a predefined object structure comprising a 'typ_msg' field indicating one of three types of message, i.e. an instruction, a request or information; - transmits the second message to at least one the following programs: the first program (P1) of the same robot, or the second program (P2) of another robot.