HARDWARE ABSTRACTION LAYER (HAL) FOR A ROBOT

• US 20120041592A1
• Filed: 04/11/2011
• Published: 02/16/2012
• Est. Priority Date: 11/28/2001
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: Evolution Robotics Inc. (iRobot Corporation)
• Inventors: Murray, Thomas J. IV, Pham, Baoquoc N., Pirjanian, Paolo
• Granted Patent: US 8,996,168 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: B25J 9/1661 characterised by task planning, object-oriented languages
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/40389 Use robot control language also to write non robotic user, application programs
• CPC Class Codes: G05B 2219/40397 Programming language for robots, universal, user oriented
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G06F 9/455 Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
• CPC Class Codes: Y10T 436/11 Automated chemical analysis

Abstract

Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.

Claims

1. (canceled)

2. A method of activating devices in a robot, the method comprising:

determining a device configuration for each of a plurality of devices, wherein each device configuration comprises;

a) a unique device identifier, and

b) a device type specifying a device class;

instantiating a resource driver for each of the plurality of devices based, in part, on its associated device type;

generating a dependency list for at least two of the plurality of the resource drivers, each dependency list identifying a plurality of other resource drivers and an order in which the other resource drivers must be activated prior to activation of the resource driver associated with the dependency list; and

activating the plurality of resource drivers in accordance with the order specified in the associated dependency lists;

whereby the resource drivers identified in each dependency list are activated prior to activation of the resource driver associated with the dependency list, for each device.

3. The method of claim 2, wherein determining a device configuration further comprises:

retrieving at least one resource configuration file, wherein the at least one configuration file specifies the devices on the robot and the connectivity of those devices; and

parsing the at least one resource configuration file.

4. The method of claim 2, further comprising generating a driver table, wherein the driver table comprises a reference to each instantiated resource driver.

5. The method of claim 4, wherein the reference to each instantiated resource driver comprises a memory address.

6. The method of claim 2, further comprising storing computer readable instructions for all device types in a shared library.

7. The method of claim 2, further comprising:

determining a device group configuration for each of a plurality of device groups, wherein each device group configuration comprises;

a) a unique device group identifier, and

b) a device group type specifying a device group class;

instantiating a resource driver for each of the plurality of device groups based, in part, on its associated device group type;

generating a dependency list for at least two of the plurality of the resource drivers, each dependency list identifying a plurality of other resource drivers and an order in which the other resource drivers must be activated prior to activation of the resource driver associated with the dependency list; and

activating the plurality of resource drivers associated with the devices and device groups in accordance with the order specified in the associated dependency lists;

whereby the resource drivers identified in each dependency list are activated prior to activation of the resource driver associated with the dependency list, for each device and device group.