Control system and control method

Abstract

The invention provides a control system and a control method. The control system comprises a system-on-chip, wherein the system-on-chip is integrated with a processor; the processor comprises a plurality of processor cores, and each processor core corresponds to at least one service function; the virtual unit virtualizes each processor core to obtain a corresponding virtual processor core, and at least one service function corresponding to each processor core is mapped to each virtual processor core; at least one guest operating system, each guest operating system corresponding to at least one service function, and the virtual unit virtualizing the guest operating system to obtain a mirroring operating system; when a client operating system executes a corresponding first service function, a mirror image operating system corresponding to the client operating system is called, and the mirror image operating system calls a corresponding first virtual processor core according to a first processor core corresponding to the first service function; and the first virtual processor core executes the service logic corresponding to the first service function to realize isolation during execution of each service function.

Description

Technical Field

[0001] The present invention relates to the field of safety isolation, and in particular to a control system and a control method. Background Art

[0002] Traditional robot controllers do not fully utilize the functions of the processor core and unify the entire system-on-chip (SoC) to complete a certain business function. For example, a humanoid robot uses an SoC as the robot's brain to run the robot's multimodal large model, which can receive multiple inputs such as text information and image information, and output accurate voice interaction and task decision information; another SoC is used as the cerebellum to focus on the execution of specific tasks.

[0003] However, when robots use multiple SoCs, they face the problems of high cost and low security of the main control hardware. For example, each SoC requires separate hardware support, including memory, storage, and interfaces, which will significantly increase hardware costs. Since each SoC requires a separate security isolation strategy, multiple SoCs will also make security isolation difficult.

[0004] Therefore, it is necessary to develop a control system that uses a SoC to handle different business functions. The business functions correspond to the processor cores respectively, which not only saves the cost of the robot's main control hardware, but also enhances safety. Summary of the invention

[0005] The purpose of the present invention is to provide a control system and a control method to solve the problem of high cost of main control hardware of humanoid robots and solve the problem of security isolation at the processor core level.

[0006] The technical solution provided by the present invention is as follows:

[0007] The present invention provides a control system, comprising:

[0008] System-level chip, the system-level chip integrates a processor; the processor includes several processor cores, each processor core corresponds to at least one business function.

[0009] The virtual unit is used to virtualize each processor core to obtain a virtual processor core corresponding to each processor core, so that at least one business function corresponding to each processor core is mapped to the corresponding virtual processor core.

[0010] At least one client operating system, which is an execution carrier of business functions. Each client operating system corresponds to at least one business function. The virtual unit is also used to virtualize the client operating system to obtain a mirror operating system. When a client operating system executes its corresponding first business function, the mirror operating system corresponding to the client operating system is called. The mirror operating system calls the first virtual processor core corresponding to the first processor core according to the first processor core corresponding to the first business function. The first virtual processor core executes the business logic corresponding to the first business function to achieve isolation when each business function is executed.

[0011] Specifically, through the control system proposed by the present invention, the processor cores correspond to the virtual processor cores one by one, and the actually executed business functions are mapped to their corresponding virtual processor cores for processing. The virtual processor cores will not interfere with each other, so as to achieve isolation when different business functions are executed.

[0012] Furthermore, the virtual unit includes:

[0013] The virtual monitor runs on the system-level chip and is used to create several virtual machines. The virtual machines are used to load the mirror operating system and map the execution operations of the client operating system to the mirror operating system.

[0014] Specifically, through the control system proposed by the present invention, the virtual machine in the virtual monitor loads the mirror operating system to achieve isolation of the interaction between the client operating system and the hardware.

[0015] Furthermore, the virtual unit further includes:

[0016] The virtualization module is used to call the virtual device interface and allocate virtual processor cores to different virtual machines according to the classification of business functions.

[0017] Specifically, through the control system proposed in the present invention, virtual processor cores are allocated to virtual machines running in a virtual environment, which can not only ensure the effective use of resources and the satisfaction of business needs, but also prevent the process of one virtual machine from affecting the processes of other virtual machines.

[0018] Furthermore, each virtual processor core corresponds to one virtual machine; and / or, several virtual processor cores correspond to one virtual machine.

[0019] Furthermore, the virtual unit further includes:

[0020] The virtual memory space is used to map the physical memory space of the system-level chip so that the virtual processor core executes business logic on the virtual memory space.

[0021] Specifically, through the control system proposed by the present invention, the virtual memory space provides an isolated environment for the virtual processor cores, so that the virtual processor cores will not interfere with each other when executing business functions.

[0022] Furthermore, the virtual unit further includes:

[0023] The virtual storage space is used to map the physical storage space of the system-level chip to store the execution data of the virtual processor core.

[0024] Specifically, through the control system proposed by the present invention, the virtual storage space ensures the isolation of the virtual processor core execution data, thereby improving data security.

[0025] Furthermore, the virtual unit further includes:

[0026] The virtual device interface is used to map the physical external device interface corresponding to the system-level chip.

[0027] Furthermore, the control system is a robot control system; the business functions of the robot control system include human-computer interaction and robot edge computing.

[0028] The present invention further proposes a control method, which is applied to a system-level chip, wherein the system-level chip includes a processor and a virtual unit, and the processor includes a plurality of processor cores. The control method includes the following steps:

[0029] Assigning each processor core in the processor to at least one business function;

[0030] Based on the virtual unit, each processor core is virtualized to obtain a virtual processor core corresponding to each processor core one by one, so that at least one business function corresponding to each processor core is mapped to the corresponding virtual processor core; based on the virtual unit, the client operating system is virtualized to obtain a mirror operating system, and the client operating system serves as an execution carrier of the business function, and each client operating system corresponds to at least one business function; when a client operating system executes its corresponding first business function, the mirror operating system corresponding to the client operating system is called, so that the mirror operating system calls the first virtual processor core corresponding to the first processor core according to the first processor core corresponding to the first business function, and the first virtual processor core executes the business logic corresponding to the first business function, so as to realize the isolation of each business function during execution.

[0031] Furthermore, before mapping at least one service function corresponding to each processor core to each virtual processor core, the method includes:

[0032] Several virtual machines are obtained based on the virtual units, and virtual processor cores are allocated to different virtual machines according to the classification of business functions.

[0033] Through the control system and control method proposed in the present invention, one SoC is used to implement the execution of all business functions, each business function can be mapped to its corresponding virtual processor core, and the virtual processor cores will not interfere with each other, thereby preventing interference between business functions and improving the stability and security of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0035] Figure 1 A schematic diagram of the structure of an embodiment of a control system of the present invention;

[0036] Figure 2 A schematic structural diagram of another embodiment of a control system of the present invention;

[0037] Figure 3 A schematic structural diagram of another embodiment of a control system of the present invention;

[0038] Figure 4 A schematic diagram of the structure of a hierarchical architecture of a control system of the present invention;

[0039] Figure 5 A flow chart of an embodiment of a control method of the present invention;

[0040] Figure 6 is an execution flow chart of the control system of the present invention;

[0041] Figure 7 It is a schematic diagram of the business functions of the control system executed by the present invention. DETAILED DESCRIPTION

[0042] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0043] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections.

[0044] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0045] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0047] In modern robot design, traditional robot controllers often fail to fully utilize the potential of multiple processor cores, but instead unify the entire SoC (system-on-chip) to complete specific functions. For example: a humanoid robot uses an SoC as the robot's brain to run a large multimodal model of the robot, which can receive multiple inputs such as text information and image information, and output accurate voice interaction and task decision information; another SoC is used as the cerebellum to focus on the execution of specific tasks. The robot's brain, with its powerful perception, task understanding, memory and planning capabilities, provides reliable support for humanoid robots to independently complete tasks in complex environments; while the robot's cerebellum needs to call multiple business function modules, use onboard vision as input, and imitate human operations to accurately output the expected trajectory.

[0048] However, when robots use multiple SoCs, they face the problems of high main control hardware cost and low security. For example, each SoC requires separate hardware support, including memory, storage, and interfaces, which will significantly increase hardware costs. Since each SoC requires a separate security isolation strategy, multiple SOCs will also make security isolation difficult.

[0049] In addition, when running business functions corresponding to multiple processor cores on a single SoC, different processor cores are processed on a hardware device, and data isolation cannot be guaranteed between processor cores. If a processor core fails, it may affect the normal operation of other processor cores, thereby affecting the stability of the entire system.

[0050] Therefore, the present application proposes a control system that focuses on different business function points of the robot and divides different processor cores for security isolation. By using one SoC to complete the processing of all business functions, multiple processor cores in the SoC are used to correspond to each business function, and each processor core is mapped to its corresponding virtual processor core, and the business function is mapped to a virtual environment for processing to achieve security isolation. Based on the control system proposed by the present invention, not only can the cost of the main control hardware be reduced, but also isolation can be achieved when different business functions are executed, thereby improving security isolation.

[0051] The following is a description with reference to the accompanying drawings:

[0052] In one embodiment of the present invention, please refer to Figure 1 , which shows a schematic diagram of the structure of a control system 100 provided in some embodiments of the present disclosure. The control system 100 includes: a system-on-chip 110, a virtual unit 120 and at least one client operating system 130.

[0053] The system-on-chip 110 integrates a processor 111 ; the processor 111 includes a plurality of processor cores, each of which corresponds to at least one service function.

[0054] The virtual unit 120 is used to virtualize each processor core to obtain virtual processor cores corresponding to each processor core, so that at least one business function corresponding to each processor core is mapped to the virtual processor core.

[0055] The client operating system 130 is an execution carrier of business functions. Each client operating system 130 corresponds to at least one business function. The virtual unit 120 is also used to virtualize the client operating system 130 to obtain a mirror operating system 140. When a client operating system 130 executes its corresponding first business function, the mirror operating system 140 corresponding to the client operating system 130 is called. The mirror operating system 140 calls the first virtual processor core corresponding to the first processor core according to the first processor core corresponding to the first business function. The first virtual processor core executes the business logic corresponding to the first business function to achieve isolation when each business function is executed.

[0056] Specifically, the system-level chip 110 can be a SoC using Intel N97, supporting x86 architecture, ARM architecture, RISC-V architecture and FPGA architecture. After the system is powered on, the system-level chip 110 is interacted with through the pre-launch VM (secure preload virtualization engine).

[0057] The virtual unit 120 is responsible for virtualizing multiple processor cores in the system-on-chip 110, so that each processor core is virtualized into its corresponding virtual processor core. After the processor core is virtualized, the service function corresponding to each processor core is mapped to the corresponding virtual processor core for processing.

[0058] A UI tools kit is provided between the system-level chip 110 and the virtual unit 120. The UI tools kit is used to allocate the resources of the virtual processor core corresponding to each processor core, and can also complete the hardware virtualization and graphics of the entire Taibo unmanned ecological equipment main control system. For example: hardware infrastructure such as unmanned vehicles, drones, unmanned ships, unmanned submarines, robots, and input and output devices such as SoC, processor cores, memory, disks, Ethernet, WiFi / BT, PCIE, UART, USB, HDMI, TYPE-C, etc. Based on the UI tools kit, these hardware resources can be allocated to virtual machines according to the landing scenario, supporting direct mode, shared mode, exclusive mode, encryption mode, pre-processing mode, safe island mode, broadcast mode, multicast mode, custom autonomous networking mode and other allocation methods. In addition, it also supports flexible xml parameter configuration methods, allowing the operating system to run dynamic loading mode after startup.

[0059] There are multiple business functions that need to be processed in the control system 100, namely, a first business function, a second business function, ..., an Nth business function. The processor in the system-level chip 110 includes multiple processor cores, namely, a first processor core, a second processor core, ..., an Nth processor core. Therefore, the processor cores virtualized by the virtual unit 120 correspond to the first virtual processor core, the second virtual processor core, ..., the Nth virtual processor core.

[0060] For example, when the first business function corresponds to the first processor core, when the client operating system 130 executes the first business function, the mirror operating system 140 corresponding to the client operating system 130 is called, and the mirror operating system 140 calls the first virtual processor core to process the virtual first business function based on the first processor core corresponding to the first business function.

[0061] When executing the business functions of the robot, the CPU core, IO, etc. are hardware abstracted through the HAL hardware abstraction layer soft circuit encapsulation. For example, the HAL hardware abstraction layer can adapt the x86 processor, ARM processor, RISC-V processor and FPGA to the control system 100.

[0062] In this embodiment, the control system can be not only a robot isolation system, but also an isolation system used in other fields. The business functions of the robot isolation system include human-machine interaction, robot edge computing, private cloud fleet cluster management, etc.

[0063] Through the control system proposed in the present invention, mapping isolation between business functions, processor cores, and virtual processor cores is achieved, and the processor cores on the same system-level chip are mapped to a virtualized isolation environment, thereby improving the security of the system in executing different business functions.

[0064] In one embodiment of the present invention, please refer to Figure 2 , which shows a schematic diagram of the structure of a virtual unit 120 provided in some embodiments of the present disclosure. The virtual unit 120 includes: a virtual monitor 121, a virtualization module 122, a virtual memory space 123, a virtual storage space 124, and a virtual device interface 125.

[0065] The virtual monitor 121 runs on the system-on-chip and is used to create a plurality of virtual machines. The virtual machines are used to load the mirror operating system 140 and map the execution operations of the client operating system to the mirror operating system 140 .

[0066] The virtualization module 122 is used to call the virtual device interface 125 to allocate virtual processor cores to different virtual machines according to the classification of business functions.

[0067] The virtual memory space 123 is used to map the physical memory space of the system-level chip so that the virtual processor core executes the service logic on the virtual memory space.

[0068] The virtual storage space 124 is used to map the physical storage space of the system-level chip to store the execution data of the virtual processor core.

[0069] The virtual device interface 125 is used to map the physical external device interface corresponding to the system-on-chip.

[0070] Specifically, the virtual monitor (Hypervisor) 121 can use InterACRN, which is an intermediate software layer running between the basic physical server and the operating system, which allows multiple operating systems and applications to share hardware resources. The virtual monitor 121 runs on a system-on-chip (SoC), and its main function is to create multiple virtual machines, which can be Xenomai's real-time virtual machines (RTVM, Real-Time Virtual Machine). These virtual machines can load different mirror operating systems 140, thereby realizing the independent operation of multiple operating systems on the same hardware platform.

[0071] Through the virtual machine of the virtual monitor 121, the execution operations of the client operating system are mapped to the mirror operating system 140, so that the client operating system can run normally in the virtual environment without the client operating system directly calling the processor core in the system-level chip to process business functions.

[0072] When the number of virtual processor cores is greater than the number of virtual machines, multiple virtual processor cores are allocated to one virtual machine according to the classification of business functions; when the number of virtual processor cores is less than or equal to the number of virtual machines, one virtual processor core can be allocated to one virtual machine, or multiple virtual processor cores can be allocated to one virtual machine according to the classification of business functions. Figure 3 As shown, when the number of virtual machines is lower than the number of virtual processor cores, the second virtual processor core and the third virtual processor core are allocated to the second virtual machine according to the classification of the executed service functions.

[0073] The physical memory space refers to the memory resources actually owned by the system-level chip; while the virtual memory space 123 is an address space that provides an abstract memory model for the program so that the program does not need to care about the actual physical memory layout. In order to ensure memory isolation between different virtual processor cores, each virtual processor core is allocated an independent virtual memory space 123, that is, each virtual processor core cannot access each other's memory space, thereby ensuring the safe isolation of the operation space.

[0074] The physical storage space refers to the storage capacity actually available in the system-level chip; the virtual storage space 124 is an abstract storage environment mapped to the physical storage space, which can maintain the security of the execution data processed by the virtual processor.

[0075] For example, Figure 4 The figure shows a layered architecture. The ACRN hypervisor (virtual monitor) plays a core role between the hardware (HARDWARE) and multiple virtual machines (VMs). It is responsible for managing hardware resources and providing an isolated environment for virtual machines, supporting real-time processing, machine learning, autonomous driving, voice interaction, robot walking, drone flight and other functions.

[0076] Pre-launched UserVM (safe preloaded virtualization engine) can be RTVM (real-time virtual machine), including PLC (programmable logic controller), Robotics (robotics) and UAV (unmanned aerial vehicle), etc., for real-time processing and rapid response tasks. Service VM (service virtual machine) provides Device Model (device model) to virtualize physical devices in a virtualized environment.

[0077] Post-launched UserVMs are virtual machines that are dynamically loaded as needed after the control system is started, namely StandardVMs. According to the UI tools kit, they divide the conventional business functions corresponding to multiple fields such as robots, drones, and unmanned underwater vehicles, such as machine learning, human-computer interaction interface, autonomous driving, voice interaction, and visual computing.

[0078] Through the control system proposed in the present invention, multiple independent computing environments are simulated on a physical system, and each virtual processor core will not interfere with each other when executing business functions, thereby achieving safe isolation of the operating environment and data storage.

[0079] In one embodiment of the present invention, please refer to Figure 5 , which shows a flow chart of a control method provided in some embodiments of the present disclosure. The control method is executed by the above control system 100, and includes the following steps:

[0080] S100 corresponds each processor core in the processor to at least one business function.

[0081] S200 virtualizes each processor core based on the virtual unit to obtain a virtual processor core corresponding to each processor core one by one, so that at least one service function corresponding to each processor core is mapped to the virtual processor core.

[0082] S300 virtualizes the client operating system based on the virtual unit to obtain a mirror operating system. The client operating system serves as an execution carrier of the business function, and each client operating system corresponds to at least one business function.

[0083] S400 calls the mirror operating system corresponding to the client operating system when a client operating system executes its corresponding first business function, so that the mirror operating system calls the first virtual processor core corresponding to the first processor core according to the first processor core corresponding to the first business function, and the first virtual processor core executes the business logic corresponding to the first business function to achieve isolation when each business function is executed.

[0084] Specifically, a framework for real-time robot control systems is built based on ros2_control, and ros2 middleware provides the necessary communication and data distribution functions. ros2_control and ros2 middleware jointly support robot application development in ros2, providing real-time performance and high flexibility. After the system is powered on, the unified extensible firmware interface (UEFI) / boot loader (U-Boot) is used to start and initialize the hardware. UEFI / U-Boot loads the GRUB boot loader from the preset boot media (such as hard disk, USB drive, etc.). GRUB is a multi-operating system boot program that allows users to have multiple operating systems in the computer at the same time and select the operating system they want to run when the computer starts.

[0085] The client operating system is started based on the user's selection, and the virtual unit is started. The virtual unit virtualizes each processor core in the processor into a virtual processor core, and the virtual processor core processes the business functions corresponding to the processor core. The virtual unit also virtualizes the client operating system into a mirror operating system, and uses the mirror operating system as a virtual execution carrier for business functions.

[0086] In the above step S200, before mapping at least one business function corresponding to each processor core to each virtual processor core, the step further includes: obtaining a plurality of virtual machines based on the virtual unit, and allocating the virtual processor cores to different virtual machines according to the classification of the business functions.

[0087] When a selected client operating system executes its corresponding first service function, the mirror operating system corresponding to the client operating system is called through the virtual machine, and the mirror operating system calls the first virtual processor core corresponding to the first service for processing.

[0088] like Figure 6 As shown in the figure, the execution process of the user operation control system is to start and initialize the system first, select the operating system to start, and then start the virtual monitor (Hypervisor) environment. The virtual monitor creates and manages several virtual machines. Each virtual machine handles different business functions. For example, the pre-started virtual machine can run immediately when the system starts to provide instant services; the service virtual machine provides background services such as network management and logging; the user virtual machine handles visual tasks and provides a human-computer interaction interface.

[0089] For example, Figure 7As shown, based on the control method proposed in the present invention, when the Service VM (service virtual machine) processes the monitoring business function, the corresponding hardware processor core is Core0, that is, a virtual processor core proposed in the present invention is mapped to a virtual machine; when the RTVM (real-time virtual machine) processes Non-RTTask (non-real-time task), the corresponding hardware processor core is Core1, and when processing RT Task (real-time task), the corresponding hardware processor core is Core2, FPFA and Ethemet x2, that is, multiple virtual processor cores proposed in the present invention can also be mapped to one virtual machine.

[0090] Through the control method proposed in the present invention, the processor cores are mapped one-to-one with the virtual processor cores, and the actually executed business functions are mapped to their corresponding virtual processor cores for processing. The virtual processor cores will not interfere with each other, so as to achieve isolation when different business functions are executed.

[0091] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0092] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed with hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0093] It should be noted that the above embodiments can be freely combined as needed. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. A control system, characterized in that: include: A system-level chip, wherein the system-level chip is integrated with a processor; the processor includes a plurality of processor cores, each of which corresponds to at least one service function; A virtualization unit, configured to virtualize each of the processor cores to obtain virtual processor cores corresponding to each of the processor cores, so that at least one service function corresponding to each of the processor cores is mapped to the virtual processor cores corresponding to each of the virtual processor cores; At least one client operating system, the client operating system is an execution carrier of a business function, each of the client operating systems corresponds to at least one business function, and the virtual unit is further used to virtualize the client operating system to obtain a mirror operating system; When a client operating system executes its corresponding first business function, the mirror operating system corresponding to the client operating system is called, and the mirror operating system calls the first virtual processor core corresponding to the first processor core according to the first processor core corresponding to the first business function, and the first virtual processor core executes the business logic corresponding to the first business function to achieve isolation when each business function is executed.

2. The control system according to claim 1, characterized in that: The virtual unit comprises: A virtual monitor runs on the system-on-chip and is used to create a plurality of virtual machines, wherein the virtual machines are used to load the mirror operating system and map the execution operation of the client operating system to the mirror operating system.

3. The control system according to claim 2, characterized in that: The virtual unit further includes: The virtualization module is used to call the virtual device interface and allocate the virtual processor cores to different virtual machines according to the classification of the business functions.

4. The control system according to any one of claims 2-3, characterized in that: Each of the virtual processor cores corresponds to one of the virtual machines; and / or, a plurality of the virtual processor cores corresponds to one of the virtual machines.

5. The control system according to claim 1, characterized in that: The virtual unit further includes: The virtual memory space is used to map the physical memory space of the system-on-chip so that the virtual processor core executes service logic on the virtual memory space.

6. The control system according to claim 1, characterized in that: The virtual unit further includes: The virtual storage space is used to map the physical storage space of the system-level chip to store the execution data of the virtual processor core.

7. The control system according to claim 1, characterized in that: The virtual unit further includes: The virtual device interface is used to map the physical external device interface corresponding to the system-on-chip.

8. The control system according to claim 1, characterized in that: The control system is a robot isolation system; The business functions of the robot isolation system include human-computer interaction and robot edge computing.

9. A control method, characterized in that: Applied to a system-level chip, the system-level chip includes a processor and a virtual unit, the processor includes a plurality of processor cores, and the control method includes the following steps: Assigning each processor core in the processor to at least one service function; Virtualizing each of the processor cores based on the virtual unit to obtain virtual processor cores corresponding to each of the processor cores, so that at least one service function corresponding to each of the processor cores is mapped to the virtual processor cores corresponding to each of the virtual processor cores; Based on the virtual unit, the client operating system is virtualized to obtain a mirror operating system, the client operating system is used as an execution carrier of the business function, and each of the client operating systems corresponds to at least one business function; When a client operating system executes its corresponding first business function, the mirror operating system corresponding to the client operating system is called, so that the mirror operating system calls the first virtual processor core corresponding to the first processor core according to the first processor core corresponding to the first business function, and the first virtual processor core executes the business logic corresponding to the first business function, so as to achieve isolation when each business function is executed.

10. The control method according to claim 9, characterized in that: Before mapping at least one service function corresponding to each processor core to each virtual processor core, the method includes: A plurality of virtual machines are obtained based on the virtual unit, and the virtual processor cores are allocated to different virtual machines according to the classification of the service functions.

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