General purpose robotics operating system

• US 9,195,233 B2
• Filed: 02/27/2006
• Issued: 11/24/2015
• Est. Priority Date: 02/27/2006
• Status: Active Grant

• Current Assignee: Perrone Robotics, Inc.
• Original Assignee: Perrone Robotics, Inc.
• Inventors: Perrone, Paul J.
• Primary Examiner(s): Tran, Dalena
• Assistant Examiner(s): Figueroa, Jaime
• Application Number:
  US11/361,974
• Publication Number:
  US 20070208442A1
• Time in Patent Office: 3,557 Days
• Field of Search: 700/245, 700/246, 700/264
• US Class Current: 1/1
• 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

Abstract

The present invention provides a general purpose operating system that shows particular usefulness in the robotics and automation fields. The operating system provides individual services and the combination and interconnections of such services using built-in service extensions, built-in completely configurable generic services, and a way to plug in additional service extensions to yield a comprehensive and cohesive framework for developing, configuring, assembling, constructing, deploying, and managing robotics and/or automation applications.

Claims

1. A non-transitory medium encoding a general purpose robotics operating system, an automation operating system, or both a general purpose robotics operating systems and an automation operating system (GPROS), wherein the GPROS comprises:

a set of application services, the set of application services comprising at least one of robotics application services, automation application services, or both robotics and automation application services,

wherein the set of application services (i) is completely configurable by using a config service, (ii) can be adapted both statically and dynamically, and (iii) provides access to configuration data using a generic abstraction,

wherein the set of application services are independent of an underlying hardware platform and allow for combinations of communication, operational, or both communication and operational conduct for communication, operational, or both communication and operational tasks, and

wherein the set of application services comprises (1) a peripheral service, and (2) a sensor service, an actuator service, or both a sensor service and an actuator service, and wherein

the set of application services comprises a service to manage synchronous, asynchronous, and real time application threads.

2. The medium of claim 1, wherein the set of application services further comprises one or more of the following services:

a conduct service, a robot service, an obstacle service, a navigation service, a mobility service, a thought service, a plan service, a rules service, a neural service, a motor service, a pwm service, a god service, a mechanism service, a gear service, a reference service, a range service, a ladar service, a radar service, a feedback service, a digital service, an analog service, a fusion service, a watchdog service, and a safety service.

3. The medium of claim 1, wherein the set of application services comprises one or more of the following services:

range;

ladar;

ladar sick;

radar;

radar vorad;

reference;

reference geo;

reference nmea;

mechanism, gear;

actuator;

motor;

timer, pwm;

conduct; and

mobility services.

4. The medium of claim 1, wherein the set of application services further comprises at least one service that utilizes a wheeled platform;

utilizes a legged platform;

utilizes a tracked platform;

utilizes flight operations;

provides navigation;

provides robot god; and

/or provides rules, neural.

5. The medium of claim 1, wherein the operating system is a robotics operating system that allows for any combination of communication or operational conduct for any communication or operational task.

6. The medium of claim 1, wherein the GPROS provides individual services and the combination and interconnections of such services using built-in service extensions, built-in completely configurable services, and a way to plug in additional service extensions to yield a comprehensive and cohesive framework for developing, configuring, assembling, constructing, deploying, and managing robotics and/or automation applications.

7. The medium of claim 1, wherein the set of application services further comprises one or more of the following services:

a registry service, a comm service, an ap service, an envoy service, a peripheral service, an any service, a signals service, a signals.message service, a signals.mapping service, a hardware service, a system service, an id service, and an automaton service.

25. The medium of claim 1, wherein the medium is capable of storing computer software by magnetic means or optical means.

26. The medium of claim 1, wherein the medium comprises a floppy disk, a hard drive, a memory stick, a tape, or a CD.

28. The medium of claim 2, further comprising a set of application services comprising one or more of the following services:

a registry service, a comm service, an ap service, an envoy service, an any service, a signals service, a signals.message service, a signals.mapping service, a hardware service, a system service, an id service, and an automaton service,

wherein the GPROS services of claim 2 extend, use, and are combined with the additional application services.

8. A method for using a general purpose robotics operating system, an automation operating system, or both a general purpose robotics operating systems and an automation operating system (GPROS), the method comprising:

providing a GPROS comprising a set of robotics application services, automation application services, or both robotics and automation application services,

wherein the set of application services (i) is completely configurable by using a config service, (ii) can be adapted both statically and dynamically, and (iii) can access configuration data using a generic abstraction,

wherein the application services are independent of an underlying hardware platform and are capable of performing combinations of communication, operational, or both communication and operational conduct for communication, operational, or both communication and operational tasks, and wherein

the set of application services comprises a service to manage synchronous, asynchronous, and real time application threads; and

using a computing device that comprises a processor to execute (1) a peripheral service, and (2) a sensor service, an actuator service, or both a sensor service and an actuator service.

9. The method of claim 8, wherein using a computing device comprises executing at least one of the following additional services:

a conduct service, a robot service, an obstacle service, a navigation service, a mobility service, a thought service, a plan service, a rules service, a neural service, a motor service, a pwm service, a god service, a mechanism service, a gear service, a reference service, a range service, a ladar service, a radar service, a feedback service, a digital service, an analog service, a fusion service, a watchdog service, and a safety service.

10. The method of claim 8, wherein using a computing device comprises executing at least one of the following additional services:

a service that utilizes a wheeled platform;

a service that utilizes a legged platform;

a service that utilizes a tracked platform;

a service that utilizes flight operations;

a service that provides navigation;

a service that provides robot god; and

a service that provides rules, neural.

11. The method of claim 8, wherein the set of application services are robotics application services and the operating system is a robotics operating system.

12. A device comprising:

software for a general purpose robotics operating system, an automation operating system, or both a general purpose robotics operating system and an automation operating system (GPROS), wherein the GPROS comprises a set of robotics application services, automation application services, or both robotics and automation application services,

wherein the set of application services (i) is completely configurable by using a config service, (ii) can be adapted both statically and dynamically, and (iii) provides access to configuration data using a generic abstraction,

wherein the set of application services are independent of an underlying hardware platform and allow for combinations of communication, operational, or both communication and operational conduct for communication, operational, or both communication and operational tasks, wherein

the set of application services comprises a service to manage synchronous, asynchronous, and real time application threads, and

wherein the set of application services comprises (1) a peripheral service, and (2) a sensor service, an actuator service, or both a sensor service and an actuator service; and

hardware upon which the software resides.

13. The device of claim 12, wherein the hardware retains the software indefinitely.

14. The device of claim 13, wherein the hardware is a computer hard drive or memory stick.

15. The device of claim 12, wherein the hardware retains the software ephemerally.

16. The device of claim 15, wherein the hardware is one or more banks of random access memory.

17. The device of claim 12, wherein the hardware is a central processing unit.

18. The device of claim 12, wherein the hardware comprises a mechanical component capable of movement.

19. The device of claim 18, wherein the mechanical component comprises an articulated joint, a wheel, a leg, a wing, a rudder, an arm, a knob, or a pivot point.

20. The device of claim 12, which is an autonomously controlled device.

21. The device of claim 20, which is a robot.

22. The device of claim 20, which is an unmanned ground vehicle (UGV) or an unmanned air vehicle (UAV).

23. The device of claim 12, wherein the software is capable of being updated or otherwise modified before, during, and after fabrication of the device.

24. The device of claim 23, wherein the device is capable of learning by way of updates or modifications of the software, either through human intervention or autonomously.

27. A non-transient medium encoding a general purpose robotics operating system, an automation operating system, or both a general purpose robotics operating systems and an automation operating system (GPROS) comprising:

a set of robotics application services, automation application services, or both robotics and automation application services,

wherein the set of application services (i) is completely configurable by using a config service, (ii) can be adapted both statically and dynamically, and (iii) provides access to configuration data using a generic abstraction,

wherein the application services are independent of an underlying hardware platform and allow for combinations of communication, operational, or both communication and operational conduct for communication, operational, or both communication and operational tasks, wherein the set of application services comprises a service to manage synchronous, asynchronous, and real time application threads, and

wherein the set of robotics and/or automation application services comprises (1) a peripheral service, (2) a sensor service, an actuator service, or both a sensor service and an actuator service, and (3) one or more of the following services;

a range service, a ladar service, a ladar sick service, a radar service, a radar vorad service, a reference service, a reference geo service, a reference nmea service, a mechanism service, a gear service, a motor service, a timer service, a pwn service, a mobility service, a conduct service, a robot service, an obstacle service, a navigation service, a thought service, a plan service, a rules service, a neural service, a feedback service, a digital service, an analog service, a fusion service, a watchdog service, a safety service, a registry service, a comm service, an ap service, an envoy service, an any service, a signals service, a signals.message service, a signals.mapping service, a hardware service, a system service, an id service, and an automaton service; and

wherein the GPROS provides individual services and the combination and interconnections of such services using built-in service extensions, built-in completely configurable services, and a way to plug in additional service extensions to yield a comprehensive and cohesive framework for developing, configuring, assembling, constructing, deploying, and managing robotics applications, automation applications, or both robotics and automation applications.