Mobile robot internal communication system
View Patent ↗A peripheral device communication system includes a communications medium having physical network hardware. The system also includes a first network device capable of issuing to the physical network hardware a request to communicate a datagram with greater priority than any other communications request. This datagram encapsulates a memory register access command. The system further includes a second network device having addressable memory registers and capable of issuing to the physical network hardware a request to communicate a datagram with greater priority than any other communications request. This datagram encapsulates a response to a memory register access command.
1. A mobile robot internal communication system comprising:
a controller disposed on a mobile robot having one or more electronically controllable robot components in communication with the controller, each robot component having a memory directly accessible by the controller and corresponding to at least one robot function;
wherein the controller is configured to issue memory access commands to the robot components, each memory access command being contained in a datagram having a single robot component address and a robot component operation corresponding to a state of the corresponding memory of the robot component, a first memory access command specifying robot component operation state information for a first robot component memory; and
wherein the controller operates according to a media access control protocol supporting virtual local area network tagging.
2. The mobile robot internal communication system of claim 1 , wherein the controller is configured to issue a second memory access command to read robot component operation state information from a second robot component memory.
3. The mobile robot internal communication system of claim 1 , wherein the first robot component memory represents at least one of: a configuration of a portion of the robot component, and data associated with a portion of the robot component.
4. The mobile robot internal communication system of claim 1 , wherein the controller issues memory access commands asynchronously with respect to other communication requests.
5. The mobile robot internal communication system of claim 1 , wherein the controller is configured to issue a datagram that contains two or more memory access commands.
6. The mobile robot internal communication system of claim 1 , wherein the controller is configured to generate a map of robot components in communication with the controller.
7. A method of communicating with components of a mobile robot, the method comprising:
at a controller disposed on a mobile robot having at least one electronically controllable robot component in communication with the controller,
issuing a memory access command to the robot component having a memory directly accessible by the controller and corresponding to at least one robot function, the memory access command contained in a datagram having a single robot component address and a robot component operation corresponding to a state of the corresponding memory of the robot component, wherein the memory access command specifies robot component operation state information for the robot component memory; and
wherein the controller operates according to a media access control protocol supporting virtual local area network tagging.
8. The method of claim 7 , further comprising reading robot component operation state information from the robot component memory, including issuing a second memory access command to the robot component.
9. The method of claim 7 , wherein the memory represents at least one of: a configuration of a portion of the robot component, and data associated with a portion of the robot component.
10. The method of claim 7 , wherein the controller issues memory access commands asynchronously with respect to other communication requests.
11. The method of claim 7 , wherein the datagram contains a second memory access command.
12. The method of claim 7 , further comprising generating a map of robot components in communication with the controller.
13. A method of communicating with components of a mobile robot, the method comprising:
at a controller disposed on a mobile robot having one or more electronically controllable robot components in communication with the controller,
issuing two identical datagrams to one of the robot components having a memory directly accessible by the controller and corresponding to at least one robot function, each datagram having a single robot component address and a robot component operation corresponding to a state of the corresponding memory of the robot component, and each datagram having one or more memory access commands, and each memory access command specifying robot component operation state information for the robot component memory;
wherein the controller operates according to a media access control protocol supporting virtual local area network tagging.