Arithmethic processing device, inter-object communication method, and robot

• US 20030097202A1
• Filed: 11/27/2002
• Published: 05/22/2003
• Est. Priority Date: 01/13/1999
• Status: Active Grant

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Fujita, Masahiro, Takagi, Tsuyoshi, Sakamoto, Takayuki, Sabe, Kotaro
• Granted Patent: US 6,728,598 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: G05B 19/0426 Programming the control sequence
• CPC Class Codes: G05B 2219/23312 Load program from attached device to control that device
• CPC Class Codes: G05B 2219/23389 Modular program, each process has corresponding program module
• CPC Class Codes: G05B 2219/23432 Select as function of different connected tools, each tool has its parameters
• CPC Class Codes: G05B 2219/32137 Configure, connect, combine different program modules
• CPC Class Codes: G05B 2219/32161 Object oriented control, programming
• CPC Class Codes: G05B 2219/33105 Identification of type of connected module, motor, panel
• CPC Class Codes: G05B 2219/33125 System configuration, reconfiguration, customization, automatic
• CPC Class Codes: G05B 2219/40304 Modular structure
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y10S 707/99934 Query formulation, input preparation, or translation
• CPC Class Codes: Y10T 74/20317 including electric motor

Abstract

An arithmetic processing device for inter-object data communication has an object manager for connecting objects so as to enable exchange of data between the objects, and a connection data supplying unit for supplying the object manager with connection data necessary for achieving the connection between the objects. Disclosed also are an inter-object communication method and a robot incorporating the arithmetic processing device. The robot may be designed to enable a user to replace parts thereof, thus changing the robot configuration. The robot preferably includes a part detection unit for detecting parts attached to the robot, and outputting a part detection result in accordance with the detection. An information storage unit stores information corresponding to the part detection result for each configuration obtained by replacement of the parts. A software changing unit revises robot-controlling software in correspondence with a changed configuration, based on a comparison of the part detection result with the information stored in the information storage unit. A controller controls general robot operations in accordance with the revised software.

Claims

1. An arithmetic processing device for inter-object data communication, comprising:

an object manager for connecting objects so as to enable exchange of data between the objects; and

connection data supplying means for supplying said object manager with connection data necessary for achieving the connection between said objects.

2. The arithmetic processing device according to claim 1, wherein said connection data identifies the objects to be connected and the format of the data to be exchanged.

3. The arithmetic processing device according to claim 1, wherein said connection data supplying means selects from among a plurality of sets of connection data recorded in a file, and supplies the selected connection data to said object manager.

4. The arithmetic processing device according to claim 1, wherein said object manager operates in accordance with said connection data to break connection between objects and then re-connect objects, thereby revising software composed of said objects.

5. The arithmetic processing device according to claim 4, wherein the revision of the software is for changing the mode of electrical power consumption.

6. The arithmetic processing device according to claim 1, wherein said connection data is described in the form of text data.

7. An inter-object communication method for data communication between objects, comprising:

connecting said objects in accordance with connection data supplied by predetermined data supplying means so as to enable exchange of data between said objects.

8. The inter-object communication method according to claim 7, wherein said connection data identifies the objects to be connected and the format of the data to be exchanged.

9. The inter-object communication method according to claim 7, wherein said connection data has been selected from among a plurality of sets of connection data recorded in a file.

10. The inter-object communication method according to claim 7, further comprising breaking connection between objects, and re-connecting objects, in accordance with said connection data, thereby revising software composed of said objects.

11. The inter-object communication method according to claim 10, wherein the revision of the software is implemented to change the mode of electrical power consumption.

12. The inter-object communication method according to claim 7, wherein said connection data is described in the form of text data.

13. A robot having replaceable parts to enable the robot configuration to be changed, the overall actions of said robot being controlled by software containing objects through inter-object data communication, said robot comprising:

an object manager for connecting objects so as to enable exchange of data between the objects; and

connection data supplying means for supplying said object manager with connection data necessary for achieving the connection between said objects.

14. The robot according to claim 13, wherein said connection data identifies the objects to be connected and the format of the data to be exchanged.

15. The robot according to claim 13, wherein said connection data is selected from among a plurality of sets of connection data recorded in a file.

16. The robot according to claim 13, wherein said object manager operates in accordance with said connection data to break connection between objects and then to re-connect objects, thereby revising said software.

17. The robot according to claim 16, wherein the software is revised to change the mode of electrical power consumption.

18. The robot according to claim 16, further comprising component detecting means for detecting said parts, wherein said connection data is supplied in accordance with the results of the detection performed by said component detecting means, whereby the revision of the software is achieved in accordance with the robot configuration.

19. The robot according to claim 18, wherein:

said component detecting means includes a robot serial bus operative to receive data from said parts; and

said connection data supplying means comprises robot system software including a virtual robot object operatively coupled to said robot serial bus and retrieving connection information indicative of a current robot configuration, and a design robot object for receiving said connection information from said virtual robot object and supplying said connection data in accordance with said connection information to said object manager.

20. The robot according to claim 13, wherein said connection data is described in the form of text data.

21. A robot having a configuration that is changeable via replacement of parts thereof, comprising:

part detection means for detecting parts attached to said robot, and outputting a part detection result in accordance with said detection;

information storage means for storing information corresponding to said part detection result for each configuration obtained by replacement of said parts;

software changing means for changing robot-controlling software in correspondence with a changed configuration, based on a comparison of said part detection result with the information stored in said information storing means; and

control means for controlling general robot operations in accordance with said changed software.

22. The robot according to claim 21, wherein said software comprises objects and said software changing means changes said software corresponding to said changed configuration by changing said objects based on said comparison.

23. The robot according to claim 21 wherein:

said software includes;

configuration-dependent software dependent on a change in said configuration; and

configuration-independent software independent of a change in said configuration; and

said software changing means changes software corresponding to said changed configuration by changing said configuration-dependent software.

24. The robot according to claim 21, wherein information corresponding to said part detection result is written in a text data format.

25. A robot having a configuration that is changeable via replacement of parts thereof, comprising:

robot system software running on processing circuitry within said robot, and including a virtual robot object operatively coupled to said parts and operative to detect parts attached to said robot, and to output a part detection result in accordance with said detection;

an information storage unit for storing information corresponding to said part detection result for each configuration obtained by replacement of said parts; and

a software changing unit operable to revise robot-controlling software in correspondence with a changed configuration, based on a comparison of said part detection result with the information stored in said memory.

26. The robot according to claim 25, wherein said robot-controlling software comprises objects and said software changing unit revises said robot-controlling software corresponding to said changed configuration by changing said objects based on said comparison.

27. The robot according to claim 25, wherein:

said robot-controlling software includes;

configuration-dependent software dependent on a change in said configuration; and

configuration-independent software independent of a change in said configuration; and

said software changing unit revises software corresponding to said changed configuration by revising said configuration-dependent software.

28. The robot according to claim 25, wherein information corresponding to said part detection result is written in a text data format.

29. Apparatus for processing data transmitted between a plurality of objects, comprising:

means for defining a plurality of combinations of objects;

means for providing specific information corresponding to each of said plurality of combinations of objects; and

means responsive to said specific information for generating at least one control signal for application to each said plurality of objects to manage the data transmitted between said plurality of objects.

30. The apparatus according to claim 29, wherein said apparatus is a robot.

31. A method for processing data transmitted between a plurality of objects, comprising the steps of:

defining a plurality of combinations of objects;

providing specific information corresponding to each of said combinations of objects; and

generating, in accordance with said specific information, at least one control signal for application to each plurality of objects to manage the data transmitted between said plurality of objects.