Patent ID: 11890761
Assignee: UNIVERSITÉ DE REIMS CHAMPAGNE-ARDENNE
Field: Handling (Mechanical engineering)
Classification: CPC B  H  G | IPC B

Claim 0:
1. A method for interconnecting a first robot with at least one second robot, each robot comprising at least:

a monitor-control unit, the monitor-control unit comprising at least one processor and at least one memory module;
at least one peripheral equipment, the at least one peripheral equipment comprising an actuator or a sensor;
at least one communication equipment;
a first program, configured to pilot the at least one communication equipment, and comprising a plurality of first software modules executed on the at least one processor;
a second program, comprising a plurality of second software modules executed on the at least one processor, a configuration of the second program being determined by a setup file including a field typ_service indicating a sending mode amongst an interpret or a direct mode, the sending mode characterizing messages transmitted by the second program;
a third program, configured to control the actuator and/or the sensor, and comprising a plurality of third software modules executed on the at least one processor;

the method comprising the following steps, implemented by the second program within each of the robots, after reception by the second program of a first message originating from the third program:
conversion of the first message into a second message, the second message being formatted according to a predefined object structure comprising a field typ_msg indicating a type of message amongst the types: command, query, or information;
transmission of the second message to at least one program amongst: a first program belonging to the same robot, a second program of another robot;

the method further comprising the following steps, implemented by the second program within each of the robots, after reception by the second program of a third message, formatted according to the predefined object structure, originating from at least one program amongst: a first program belonging to the same robot, a second program of another robot, when the field typ_msg of the third message indicates a command type or a query type:
translation of the third message into a program portion adapted to be implemented by the third program when the a field typ_service of the setup file which is associated to the third message indicates the direct sending mode; and/or
transmission according to a second transport protocol, of at least one portion of the third message, or of the program portion, to the third program.