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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：US20110153073A1
公开(公告)日：2011-06-23
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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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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5.发明申请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：US20100161836A1
公开(公告)日：2010-06-24
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者方法端口执行输入和输出操作。
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公开(公告)号：US20100115524A1
公开(公告)日：2010-05-06
申请号：US12494819
申请日：2009-06-30
CPC分类号： B25J9/1602 , G05B2219/23219 , G05B2219/23389 , G05B2219/39381 , G06F9/485
摘要： An apparatus for thread processing robot software components includes a data port unit for storing input data in a buffer and then processing the data in a periodic execution mode or in a dedicated execution mode; an event port unit for processing an input event in a passive execution mode; and a method port unit for processing an input method call in the passive execution mode by calling a user-defined method corresponding to the method call. In the periodic execution mode, the data is processed by using an execution thread according to a period of a corresponding component. In the dedicated execution mode, a dedicated thread for the data is created and the data is processed by using the dedicated thread.
摘要翻译： 一种用于线程处理机器人软件组件的装置包括：数据端口单元，用于将输入数据存储在缓冲器中，然后以周期性执行模式或专用执行模式处理数据; 用于处理被动执行模式中的输入事件的事件端口单元; 以及方法端口单元，用于通过调用与方法调用相对应的用户定义的方法来处理被动执行模式中的输入方法调用。 在周期性执行模式中，根据相应组件的周期通过使用执行线程处理数据。 在专用执行模式下，创建用于数据的专用线程，并使用专用线程处理数据。
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7.发明授权System and method for thread processing robot software components responsive to periodic, dedicated, and passive modes 失效线程处理机器人软件组件的系统和方法，响应周期性，专用模式和被动模式公开(公告)号：US08689217B2
公开(公告)日：2014-04-01
申请号：US12494819
申请日：2009-06-30
CPC分类号： B25J9/1602 , G05B2219/23219 , G05B2219/23389 , G05B2219/39381 , G06F9/485
摘要： An apparatus for thread processing robot software components includes a data port unit for storing input data in a buffer and then processing the data in a periodic execution mode or in a dedicated execution mode; an event port unit for processing an input event in a passive execution mode; and a method port unit for processing an input method call in the passive execution mode by calling a user-defined method corresponding to the method call. In the periodic execution mode, the data is processed by using an execution thread according to a period of a corresponding component. In the dedicated execution mode, a dedicated thread for the data is created and the data is processed by using the dedicated thread.
摘要翻译： 一种用于线程处理机器人软件组件的装置包括：数据端口单元，用于将输入数据存储在缓冲器中，然后以周期性执行模式或专用执行模式处理数据; 用于处理被动执行模式中的输入事件的事件端口单元; 以及方法端口单元，用于通过调用与方法调用相对应的用户定义的方法来处理被动执行模式中的输入方法调用。 在周期性执行模式中，根据相应组件的周期通过使用执行线程处理数据。 在专用执行模式下，创建用于数据的专用线程，并使用专用线程处理数据。
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公开(公告)号：US20100168911A1
公开(公告)日：2010-07-01
申请号：US12558787
申请日：2009-09-14
CPC分类号： B25J9/1658
摘要： An apparatus for managing robot components in an intelligent robot includes a robot application including a plurality of robot components, a robot application management tool that manages the operation of the robot application, monitors the status caused by the operations of the robot application and information on the robot components, a lifecycle manager that manages lifecycles of the robot components under the management of the robot application management tool, and an operation system that transfers a sensing signal about peripheral environment generated from the sensor to the robot application, and transfers an execution signal from the robot application to the actuator.
摘要翻译： 用于管理智能机器人中的机器人部件的装置包括：包括多个机器人部件的机器人应用，管理机器人应用的操作的机器人应用管理工具，监视由机器人应用的操作引起的状态以及关于机器人应用的信息 机器人组件，在机器人应用管理工具的管理下管理机器人组件的生命周期的生命周期管理器，以及将从传感器产生的外围环境的感测信号传送到机器人应用的操作系统，并将执行信号从 机器人应用于执行机构。
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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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10.发明授权Data encoding and decoding apparatus and method for communicating between robot softwares 失效用于在机器人软件之间通信的数据编码和解码装置和方法公开(公告)号：US08681025B2
公开(公告)日：2014-03-25
申请号：US13611468
申请日：2012-09-12
IPC分类号： H03M7/34
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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