Control-command architecture for a mobile robot using articulated limbs

摘要

The present invention applies to a mobile robot which can have a human appearance and sophisticated functions enabling it to execute missions. To enable communications internal to the robot to be optimized and allow for a versatility that is both physical (possible substitution of parts of the robot) and software (replacement of programs to adapt it to new missions), an architecture with three computer levels is provided. The highest level comprises the intelligence of the robot which generates commands which are transmitted by an intermediate computer to low-level cards which control the sensors and actuators. Communication between the intermediate computer and the low-level cards is managed by at least one specific secure communication protocol.

主权项

1. A mobile robot having articulated limbs, the robot comprising:
a plurality of subsets of sensors and actuators, each subset being controlled by an electronic card, wherein
a control function for at least one of the electronic cards is distributed between at least a first computer and a second computer, said first and second computers are each unique and located on-board said robot, said first computer is distinct from said second computer and also distinct from said at least one of the electronic cards controlling a subset of sensors and actuators, and said first computer transmits to said at least one of the electronic cards, command messages for executing functions defined by the second computer and wherein communications between the first computer and the at least one of the electronic cards is managed by a secure protocol on at least one specific bus, said secure protocol including frames comprising, before bytes of a message, a byte containing at least a destination address and a most significant bit with a chosen value, and after the bytes of the message, at least one byte containing a size of the message and one byte containing a CRC.