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

• US 6,728,598 B2
• Filed: 11/27/2002
• Issued: 04/27/2004
• Est. Priority Date: 01/13/1999
• Status: Expired due to Term

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Fujita, Masahiro, Takagi, Tsuyoshi, Sakamoto, Takayuki, Sabe, Kotaro
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Marc, McDieunel, Marc, McDieunel
• Application Number:
  US10/305,692
• Publication Number:
  US 20030097202A1
• Time in Patent Office: 517 Days
• Field of Search: 700/245, 700/248, 700/249, 700/250, 700/258, 700/260, 700/261, 700/262, 700/94, 707/4, 744/900.3, 379/88.03, 446/141, 446/142, 126/8
• 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. A robot apparatus, which is controlled by software composed of objects through inter-object communication, comprising:

a main body;

a plurality of replaceable component parts which are connected to the main body;

means for detecting connection information based on the component parts connected to the main body;

means for storing a plurality of connection templates which are described for each of a plurality of configurations of the robot apparatus;

means for identifying a current configuration based on a comparison between the connection information and the connection templates; and

means for updating configuration dependent software by re-building of the inter-object communication in accordance with the current identified configuration of the robot apparatus.

2. The robot apparatus according to claim 1 wherein the connection templates are described by adding a label to constituent element information for each of the configurations of the robot apparatus.

3. The robot apparatus according to claim 2 wherein the label indicates at least a name of the object which is used and a data format type which is used.

4. A method for use in a robot apparatus having a main body and a plurality of replaceable component parts connected to the main body, said robot apparatus being controlled by software composed of objects through inter-object communication, said method comprising the steps of:

detecting connection information based on the component parts connected to the main body;

storing a plurality of connection templates which are described for each of a plurality of configurations of the robot apparatus;

identifying a current configuration based on a comparison between the connection information and the connection templates; and

updating configuration dependent software by re-building of the inter-object communication in accordance with the current identified configuration of the robot apparatus.

5. The method according to claim 4 wherein the connection templates are described by adding a label to constituent element information for each of the configurations of the robot apparatus.

6. The method according to claim 4 wherein the label indicates at least a name of the object which is used and a data format type which is used.