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1.发明授权Method port arrangement and configuration method thereof for robot software component 有权机器人软件组件的方法端口布置及其配置方法公开(公告)号：US08464218B2
公开(公告)日：2013-06-11
申请号：US12613990
申请日：2009-11-06
CPC分类号： G06F9/465
摘要： A configuration method of a method port arrangement for robot software component includes: generating a requester method port module and a provider method port module; generating a requester method module and a provider method module depending on application of a method module to be generated in the component; registering the requester method module in the requester method port module and the provider method module in the provider method port module; and registering, in a method port management module, the requester method port module and the provider method port module where the requester method module and the provider method module have been registered. The method further includes establishing the requester method port module to be operated by interconnecting the requester method port module and the provider method port module; and executing input and output operations to/from the requester method port or the provider method port depending on application of the component.
摘要翻译： 机器人软件组件的方法端口配置的配置方法包括：生成请求方方法端口模块和提供方方式端口模块; 根据要在组件中生成的方法模块的应用，生成请求者方法模块和提供者方法模块; 在请求方方法端口模块和提供者方法端口模块中的提供者方法模块中注册请求方方法模块; 并且在方法端口管理模块中注册请求方方法端口模块和提供者方法端口模块，其中请求方方法模块和提供者方法模块已被注册。 该方法还包括建立请求者方法端口模块，通过将请求方方法端口模块和提供者方法端口模块互连来进行操作; 并根据组件的应用程序向/从请求方方法端口或提供方方法端口执行输入和输出操作。
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2.发明授权Apparatus and method of coordinating operation action of robot software component 有权协调机器人软件组件的操作动作的装置和方法公开(公告)号：US08392921B2
公开(公告)日：2013-03-05
申请号：US12970318
申请日：2010-12-16
IPC分类号： G06F9/46
CPC分类号： G06F9/5038 , G06F2209/506
摘要： Provided are an apparatus and a method of controlling the execution of components without an additional port or messaging for applying the dependency among the components. The apparatus comprises: a profile analyzing unit analyzing execution dependency information of components defined in an execution coordination profile; a component managing unit arranging the components in accordance with the execution sequence of the components caused by the execution dependency information; an execution coordination managing unit determining whether or not each of the components executes the operation on the basis of the execution dependency information of the corresponding component managed by the execution coordination units allocated to the components, respectively; and an operation executing unit executing the operation of each of the components in accordance with the determination result of the execution coordination manager.
摘要翻译： 提供了一种控制组件执行的装置和方法，而没有用于在组件之间应用依赖关系的附加端口或消息。 该装置包括：简档分析单元，分析在执行协调配置文件中定义的组件的执行依赖性信息; 组件管理单元，其根据由所述执行依赖性信息引起的所述组件的执行顺序排列所述组件; 执行协调管理单元，确定每个组件是否分别基于由分配给组件的执行协调单元管理的相应组件的执行依赖性信息来执行操作; 以及操作执行单元，其根据执行协调管理器的确定结果执行每个组件的操作。
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公开(公告)号：US20120096471A1
公开(公告)日：2012-04-19
申请号：US13273949
申请日：2011-10-14
IPC分类号： G06F9/46
CPC分类号： G06F9/5027 , G06F11/0715 , G06F11/0757 , G06F2209/5018
摘要： An apparatus for executing components based on a thread pool includes a component executor configured to have a set priority and period, to register components having the set priority and period, and to execute the registered components. Further, the apparatus for executing the components based on the thread pool includes a thread pool configured to allocate a thread for executing the component executor; and an Operating System (OS) configured to create an event for allocating the thread to the component executor in each set period.
摘要翻译： 一种用于基于线程池执行组件的装置，包括被配置为具有设置的优先级和周期的组件执行器，以注册具有设置的优先级和周期的组件，并执行注册组件。 此外，用于基于线程池执行组件的装置包括被配置为分配用于执行组件执行器的线程的线程池; 以及配置为在每个设置的时间段内创建用于将线程分配给组件执行器的事件的操作系统（OS）。
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公开(公告)号：US20120072020A1
公开(公告)日：2012-03-22
申请号：US13235584
申请日：2011-09-19
申请人： Seung-Woog JUNG , Myung Eun KIM , Young-Jo CHO , Sung Hoon KIM
发明人： Seung-Woog JUNG , Myung Eun KIM , Young-Jo CHO , Sung Hoon KIM
IPC分类号： G05B19/04
CPC分类号： G05B19/0426 , G05B2219/23227 , G05B2219/23425
摘要： An apparatus for reconfiguring robot components in an environment that includes a robot terminal apparatus, including a plurality of internal components, and external components, interacting with the internal components, includes a situation monitoring unit for checking whether there has been a change in a situation of the robot terminal apparatus. Further, the apparatus includes a component availability analysis unit for determining at least one available component that belongs to the internal components or the external components; and a component search unit for searching for at least one component based on results of the determination of the component availability analysis unit. Furthermore, the apparatus includes a component dependency analysis unit for analyzing a dependency relationship between the component found by the component search unit and the component determined to be available by the component availability analysis unit; and a component reconfiguration unit for reconfiguring a connection relationship between the components.
摘要翻译： 一种用于在包括与内部部件相互作用的多个内部部件和外部部件的机器人终端装置的环境中重新配置机器人部件的装置，包括：状况监视部，其检查是否存在 机器人终端装置。 此外，该装置包括用于确定属于内部组件或外部组件的至少一个可用组件的组件可用性分析单元; 以及组件搜索单元，用于基于组件可用性分析单元的确定结果来搜索至少一个组件。 此外，该装置包括：组件依赖性分析单元，用于分析由组件搜索单元找到的组件与由组件可用性分析单元确定的可用组件之间的依赖关系; 以及组件重新配置单元，用于重新配置组件之间的连接关系。
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5.发明申请APPARATUS AND METHOD OF COORDINATING OPERATION ACTION OF ROBOT SOFTWARE COMPONENT 有权机器人软件组件操作操作的装置和方法公开(公告)号：US20110154361A1
公开(公告)日：2011-06-23
申请号：US12970318
申请日：2010-12-16
IPC分类号： G06F9/46
CPC分类号： G06F9/5038 , G06F2209/506
摘要： Provided are an apparatus and a method of controlling the execution of components without an additional port or messaging for applying the dependency among the components. The apparatus comprises: a profile analyzing unit analyzing execution dependency information of components defined in an execution coordination profile; a component managing unit arranging the components in accordance with the execution sequence of the components caused by the execution dependency information; an execution coordination managing unit determining whether or not each of the components executes the operation on the basis of the execution dependency information of the corresponding component managed by the execution coordination units allocated to the components, respectively; and an operation executing unit executing the operation of each of the components in accordance with the determination result of the execution coordination manager.
摘要翻译： 提供了一种控制组件执行的装置和方法，而没有用于在组件之间应用依赖关系的附加端口或消息。 该装置包括：简档分析单元，分析在执行协调配置文件中定义的组件的执行依赖性信息; 组件管理单元，其根据由所述执行依赖性信息引起的所述组件的执行顺序排列所述组件; 执行协调管理单元，确定每个组件是否分别基于由分配给组件的执行协调单元管理的相应组件的执行依赖性信息来执行操作; 以及操作执行单元，其根据执行协调管理器的确定结果执行每个组件的操作。
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6.发明申请DATA ENCODING AND DECODING APPARATUS AND METHOD FOR COMMUNICATING BETWEEN ROBOT SOFTWARES 失效数据编码和解码设备和机器人软件之间的通信方法公开(公告)号：US20130106625A1
公开(公告)日：2013-05-02
申请号：US13611468
申请日：2012-09-12
IPC分类号： H03M7/00
CPC分类号： H03M7/707
摘要： A data encoding apparatus for communicating between robot softwares includes a meta structure converter factory configured to allow one or more meta structure converters generated based on an information file, and if a type of user data for encoding is a structure or a structure array, select a meta structure converter, operable to convert a structure of the user data into a meta structure, from among the registered meta structure converters; an encoder factory configured to allow encoders for respective types of data to be registered, and to select an encoder from among the registered encoders in order to encode the user data to be encoded; and an encoder unit configured to encode the user data to be encoded using the meta structure generated by the selected meta structure converter and the encoder.
摘要翻译： 用于在机器人软件之间进行通信的数据编码装置包括：元结构转换器工厂，被配置为允许基于信息文件生成的一个或多个元结构转换器，并且如果用于编码的用户数据的类型是结构或结构数组，则选择 元结构转换器，用于将登记的元结构转换器中的用户数据的结构转换成元结构; 编码器工厂被配置为允许编码器针对各种类型的数据进行登记，并从注册的编码器中选择一个编码器，以编码要编码的用户数据; 以及编码器单元，被配置为使用由所选择的元结构转换器和编码器生成的元结构对要编码的用户数据进行编码。
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7.发明申请COMPONENT COMPOSING APPARATUS AND METHOD USING VIRTUAL COMPONENTS IN COMPONENT-BASED ROBOT SOFTWARE DEVELOPMENT 有权基于组件的机器人软件开发中的组件组合设备和使用虚拟组件的方法公开(公告)号：US20130067429A1
公开(公告)日：2013-03-14
申请号：US13595256
申请日：2012-08-27
IPC分类号： G06F9/44
CPC分类号： G05B19/0426 , G05B2219/23389 , G06F8/36
摘要： A component composing apparatus using virtual components in component-based robot software development, includes a component repository configured to store a plurality of components having at least one port; and an application diagram generation unit configured to create an application diagram by selecting the components stored in the component repository. Further, the component composing apparatus includes an information repository configured to store the components within the application diagram and port information of the components within the application diagram and port connection information between the components within the application diagram; and a virtual component processing unit configured to create the virtual components for components selected by a user among the components within the application diagram.
摘要翻译： 在基于组件的机器人软件开发中使用虚拟组件的组件组合装置包括被配置为存储具有至少一个端口的多个组件的组件存储库; 以及应用图生成单元，被配置为通过选择存储在所述组件存储库中的组件来创建应用图。 此外，组件合成装置包括：信息库，被配置为将应用图中的组件和应用图内的组件的端口信息和应用图中的组件之间的端口连接信息进行存储; 以及虚拟部件处理单元，被配置为为应用图中的组件中的用户选择的组件创建虚拟组件。
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公开(公告)号：US08984518B2
公开(公告)日：2015-03-17
申请号：US13273949
申请日：2011-10-14
CPC分类号： G06F9/5027 , G06F11/0715 , G06F11/0757 , G06F2209/5018
摘要： An apparatus for executing components based on a thread pool includes a component executor configured to have a set priority and period, to register components having the set priority and period, and to execute the registered components. Further, the apparatus for executing the components based on the thread pool includes a thread pool configured to allocate a thread for executing the component executor; and an Operating System (OS) configured to create an event for allocating the thread to the component executor in each set period.
摘要翻译： 一种用于基于线程池执行组件的装置，包括被配置为具有设置的优先级和周期的组件执行器，以注册具有设置的优先级和周期的组件，并执行注册组件。 此外，用于基于线程池执行组件的装置包括被配置为分配用于执行组件执行器的线程的线程池; 以及配置为在每个设置的时间段内创建用于将线程分配给组件执行器的事件的操作系统（OS）。
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9.发明授权Component composing apparatus and method using virtual components in component-based robot software development 有权在基于组件的机器人软件开发中使用虚拟组件的组件编组设备和方法公开(公告)号：US08769488B2
公开(公告)日：2014-07-01
申请号：US13595256
申请日：2012-08-27
IPC分类号： G06F9/44
CPC分类号： G05B19/0426 , G05B2219/23389 , G06F8/36
摘要： A component composing apparatus using virtual components in component-based robot software development, includes a component repository configured to store a plurality of components having at least one port; and an application diagram generation unit configured to create an application diagram by selecting the components stored in the component repository. Further, the component composing apparatus includes an information repository configured to store the components within the application diagram and port information of the components within the application diagram and port connection information between the components within the application diagram; and a virtual component processing unit configured to create the virtual components for components selected by a user among the components within the application diagram.
摘要翻译： 在基于组件的机器人软件开发中使用虚拟组件的组件组合装置包括被配置为存储具有至少一个端口的多个组件的组件存储库; 以及应用图生成单元，被配置为通过选择存储在所述组件存储库中的组件来创建应用图。 此外，组件合成装置包括：信息库，被配置为将应用图中的组件和应用图内的组件的端口信息和应用图中的组件之间的端口连接信息进行存储; 以及虚拟部件处理单元，被配置为为应用图中的组件中的用户选择的组件创建虚拟组件。
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公开(公告)号：US08332069B2
公开(公告)日：2012-12-11
申请号：US12843513
申请日：2010-07-26
申请人： Choul Soo Jang , Seung-Woog Jung , Byoung Youl Song , Sung Hoon Kim , Joong Bae Kim , Kyeong Ho Lee , Hyun Kyu Cho , Myung Chan Roh , Joong-Ki Park , Chang Eun Lee
发明人： Choul Soo Jang , Seung-Woog Jung , Byoung Youl Song , Sung Hoon Kim , Joong Bae Kim , Kyeong Ho Lee , Hyun Kyu Cho , Myung Chan Roh , Joong-Ki Park , Chang Eun Lee
IPC分类号： G06F19/00
CPC分类号： G06F11/1482 , G06F11/1438
摘要： An apparatus for performing fault tolerance against a failure occurring during driving robot software components includes: a component executor for executing the robot software components, which are assigned with one thread from an operating system and have a same priority and cycle, by using the assigned thread; and an executor monitor for periodically monitoring the operation of the component executor and determining whether or not there is a failure in the robot software components executed by the component executor. The apparatus further includes: an executor manager for generating the component executor which is assigned with the robot software components having the same priority and cycle and, when the executor monitor determines that there is a failure in the execution of the robot software components, generating a new component executor.
摘要翻译： 用于对在驱动机器人软件组件期间发生的故障执行容错的装置包括：用于执行机器人软件组件的组件执行器，其通过使用所分配的线程从操作系统分配一个线程并具有相同的优先级和周期 ; 以及执行器监视器，用于周期性地监视组件执行器的操作并确定组件执行器执行的机器人软件组件是否存在故障。 该装置还包括：执行器管理器，用于生成被分配有具有相同优先级和周期的机器人软件组件的组件执行器，并且当执行器监视器确定执行机器人软件组件时出现故障时，生成 新组件执行器。
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