Robot Operator Control Unit Configuration System and Method
A unified framework is provided for building common functionality into diverse operator control units. A set of tools is provided for creating controller configurations for varied robot types. Preferred controllers do one or more the following: allow uploading of configuration files from a target robot, adhere to common user interface styles and standards, share common functionality, allow extendibility for unique functionality, provide flexibility for rapid prototype design, and allow dynamic communication protocol switching. Configuration files may be uploaded from robots to configure their operator control units. The files may include scene graph control definitions; instrument graphics; control protocols; or mappings of control functions to scene graphics or control inputs.
1 . A method of configuring a robot operator control unit, the method comprising:
generating a configuration file for a robot;
transmitting the configuration file from the robot to the operator control unit;
adjusting control configurations on the operator control unit based on the configuration file; and
adjusting display topology on the operator control unit based on the configuration file.
2 . The method of claim 1 further comprising adjusting menu options on the operator control unit based on the configuration file.
3 . The method of claim 1 in which the configuration file includes a menu tree description including menu structure indicators and command identity indicators.
4 . The method of claim 3 in which the menu tree description is formatted in a tagged markup language.
5 . The method of claim 4 in which the tagged markup language is XML.
6 . The method of claim 1 in which the configuration file includes an indicator of one or more instrument scene graphics.
7 . The method of claim 1 in which the configuration file includes one or more controller mapping indicators.
8 . The method of claim 7 in which at least one of the one or more controller mapping indicators is a tagged controller mapping indicator.
9 . The method of claim 1 in which the configuration file includes one or more scene graph descriptors.
10 . The method of claim 9 in which at least one of the one or more scene graph descriptors is an OSG scene graph.
11 . The method of claim 1 in which the configuration file includes one or more protocol definitions.
12 . The method of claim 11 in which the one or more protocol definitions is formatted in a tagged markup language.
13 . The method of claim 12 in which the tagged markup language is XML.
14 . A robot control system comprising:
a robot comprising a controller, a data memory operably coupled to the controller and holding a robot configuration file;
an operator control unit comprising
a scene graph display module,
a protocol adapter module, a controller I/O module, and
a connection marshaller module operative to request configuration data from the robot and to configure the scene graph display module, the protocol adapter module, and the controller I/O module according to the configuration data.
15 . A robot operator control unit comprising:
a scene graph display module;
a protocol adapter module;
a controller I/O module; and
a connection marshaller module operative to request configuration data from a robot and configure the scene graph display module, the protocol adapter module, and the controller I/O module according to the configuration file.
16 . The robot operator control unit of claim 15 further comprising a publication/subscription database in which robot telemetry data is associated with nodes in a scene graph displayed by the scene graph display module.