US 12,452,940 B2
Apparatus and method for configuring data communication between robot components in different networks
Byoung-Youl Song, Daejeon (KR)
Assigned to Electronics and Telecommunications Research Institute, Daejeon (KR)
Filed by ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE, Daejeon (KR)
Filed on Nov. 23, 2022, as Appl. No. 17/993,544.
Claims priority of application No. 10-2021-0167128 (KR), filed on Nov. 29, 2021.
Prior Publication US 2023/0171830 A1, Jun. 1, 2023
Int. Cl. H04W 76/15 (2018.01); H04W 76/22 (2018.01); H04W 88/16 (2009.01)
CPC H04W 76/15 (2018.02) [H04W 76/22 (2018.02); H04W 88/16 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for configuring communication between robot components in different networks, comprising:
receiving, from at least one first robot component present in a subnet, gateway configuration information for requesting a configuration for communication with a second robot component in another subnet;
performing a gateway-to-gateway connection process by interworking with a target gateway agent corresponding to a target gateway agent address included in the gateway configuration information; and
performing at least one of a data forwarding process corresponding to distribution configuration information included in the gateway configuration information, or a data pulling process corresponding to subscription configuration information included in the gateway configuration information, or a combination thereof through a gateway-to-gateway connection channel,
wherein:
the distribution configuration information is information about robot data desired to be provided to robot components in other subnets, and
the subscription configuration information is information about robot data desired to be received from robot components in other subnets,
wherein each of the subnet and another subnet is configured such that at least one robot component using a robot protocol (ROS) that is used only in a corresponding subnet is run,
wherein the data forwarding process includes
converting robot data of a robot protocol received from the at least one first robot component into a data message, and
delivering the data message to the target gateway agent, and
wherein the data pulling process includes
converting a data message received from the target gateway agent into robot data of a robot protocol and delivering the robot data to the at least one first robot component.