Robot control system, chip and robot

Abstract

The embodiment of the invention discloses a robot control system, a chip and a robot. The robot control system comprises a first control module, a second control module, a first high-speed data distribution module and a second high-speed data distribution module, wherein the first control module and the first high-speed data distribution module are borne by a first kernel, the second control module and the second high-speed data distribution module are borne by a second kernel, and the first kernel and the second kernel are two kernels on the same chip; the first control module is used for controlling the second control module to start when receiving an external wake-up signal, and sending the obtained motion state information to the second control module; and the second control module is used for determining target motion state information according to at least one of the received external control instruction, external sensing information and motion state information, and sending the target motion state information to the first control module. The utilization rate of hardware resources in the robot control process is improved, and the overall power consumption of operation is reduced.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot control system, a chip and a robot. Background Art

[0002] With the rapid development of technology, robots have gradually been applied to industry and life. Robots are a kind of mechatronic control object, which includes both non-real-time tasks such as human-computer interaction and path planning controlled by software, and real-time tasks such as motion control.

[0003] At present, the control of robots is often implemented using a three-layer or two-layer hardware and software architecture, that is, the motion control system is used as the bottom layer to realize the processing of tasks with high real-time requirements; and the system layer and / or the interaction layer is used as the upper layer to realize the processing of non-real-time tasks with low real-time requirements and high computational requirements.

[0004] However, since the external control operations for robots are often implemented through the bottom layer, the rich hardware resources of the upper layer are idle, and the upper and lower layers are often connected through serial ports, which are prone to wiring failures. The communication speed is also limited, making it difficult to meet the high real-time requirements of robot control. At the same time, when there are different operating systems in the upper layer, independent hardware settings are often required. At the same time, when external devices are connected, different drivers need to be developed according to different operating systems, which increases the cost of software development, increases the difficulty of robot control, and reduces the practicality of the robot. Summary of the invention

[0005] The present invention provides a robot control system, a chip and a robot, which improve the utilization rate of hardware resources in the robot control process, reduce the overall power consumption of the operation, and improve the communication efficiency and the reliability and safety of the robot during operation.

[0006] In a first aspect, an embodiment of the present invention provides a robot control system, comprising: a first control module, a second control module, a first high-speed data distribution module, and a second high-speed data distribution module; wherein the first control module and the first high-speed data distribution module are carried by a first core, the second control module and the second high-speed data distribution module are carried by a second core, and the first core and the second core are two cores on the same chip;

[0007] The first high-speed data distribution module and the second high-speed data distribution module are communicatively connected via a network interface and used for information transmission between the first control module and the second control module;

[0008] The first control module is connected to the first high-speed data distribution module, and is used to control the second control module to start up when receiving an external wake-up signal, and send the acquired motion state information to the second control module through the first high-speed data distribution module and the second high-speed data distribution module;

[0009] The second control module is connected to the second high-speed data distribution module, and is used to determine the target motion state information according to at least one of the received external control instructions, external sensor information and motion state information, and send the target motion state information to the first control module through the second high-speed data distribution module and the first high-speed data distribution module;

[0010] The first control module is also used to generate motion control information according to the target motion state information, and control the robot based on the motion control information.

[0011] In a second aspect, an embodiment of the present invention further provides a robot control chip, including: a first core and a second core;

[0012] The first core and the second core carry a robot control system as in any of the above embodiments.

[0013] In a third aspect, an embodiment of the present invention further provides a robot, comprising: a robot control chip as in any of the above embodiments, and a sensor and a motor connected to the robot control chip.

[0014] The embodiment of the present invention provides a robot control system, a chip and a robot, comprising: a first control module, a second control module, a first high-speed data distribution module and a second high-speed data distribution module; wherein the first control module and the first high-speed data distribution module are carried by a first core, the second control module and the second high-speed data distribution module are carried by a second core, and the first core and the second core are two cores on the same chip; the first high-speed data distribution module and the second high-speed data distribution module are communicatively connected through a network interface, and are used for information transmission between the first control module and the second control module; the first control module is connected to the first high-speed data distribution module, and is used for controlling the second control module to start when an external wake-up signal is received, and sending the acquired motion state information to the second control module through the first high-speed data distribution module and the second high-speed data distribution module; the second control module is connected to the second high-speed data distribution module, and is used for determining target motion state information according to at least one of the received external control instructions, external sensor information and motion state information, and sending the target motion state information to the first control module through the second high-speed data distribution module and the first high-speed data distribution module; the first control module is also used for generating motion control information according to the target motion state information, and controlling the robot based on the motion control information. By adopting the above technical solution, different control modules for robot control are arranged on different cores of the same chip, and high-speed data distribution modules for data transmission are arranged for different control modules, so that more complex data messages can be transmitted between the two control modules, and the timeliness of data communication is improved. At the same time, since the two different control modules are arranged on the same chip, full utilization of chip hardware resources is achieved, and since the two do not need to be connected through a serial port line, the stability and reliability reduction caused by wiring failure is avoided. Further, since in the embodiment of the present invention, the first control module will control the second control module to start only when receiving an external wake-up signal, it can be considered that there is no need to keep all control modules awake during the control process, and the module with higher reliability in the two control modules can be selected to start the other control module, which improves the overall reliability and safety of the robot control system, reduces the overall power consumption of the operation, and can greatly improve the running time of the robot controlled by the robot control system.

[0015] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 A schematic diagram of the structure of a robot control system provided in Embodiment 1 of the present invention;

[0018] Figure 2 A schematic diagram of the structure of a robot control system provided in Embodiment 2 of the present invention;

[0019] Figure 3 A schematic diagram of the structure of another robot control system provided in Embodiment 2 of the present invention;

[0020] Figure 4 A schematic diagram of the structure of another robot control system provided in Embodiment 2 of the present invention;

[0021] Figure 5 A schematic diagram of the structure of another robot control system provided in Embodiment 2 of the present invention;

[0022] Figure 6 A schematic diagram of the structure of a robot control chip provided in Embodiment 3 of the present invention;

[0023] Figure 7 This is a schematic diagram of the structure of a robot provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] Embodiment 1

[0027] Figure 1 The present invention provides a schematic diagram of a robot control system according to a first embodiment of the present invention. The robot control system can be used to reduce the complexity of robot control and to control the robot reliably and safely. The robot control system 1 can be used in the control of different types of robots. For example, the robot can be a service robot, a food delivery robot, a home care robot, a welcoming robot, an educational robot, and a public entertainment robot, etc. The present invention does not limit this. The robot control system 1 includes: a first control module 11, a second control module 12, a first high-speed data distribution module 13, and a second high-speed data distribution module 14.

[0028] The first control module 11 and the first high-speed data distribution module 13 are carried by the first core 21, the second control module 12 and the second high-speed data distribution module 14 are carried by the second core 22, and the first core 21 and the second core 22 are two cores on the same chip.

[0029] The first high-speed data distribution module 13 and the second high-speed data distribution module 14 are communicatively connected via a network interface, and are used for information transmission between the first control module 11 and the second control module 12;

[0030] The first control module 11 is connected to the first high-speed data distribution module 13, and is used to control the second control module 12 to start up when receiving an external wake-up signal, and send the acquired motion state information to the second control module 12 through the first high-speed data distribution module 13 and the second high-speed data distribution module 14;

[0031] The second control module 12 is connected to the second high-speed data distribution module 14, and is used to determine the target motion state information according to at least one of the received external control instructions, external sensor information and motion state information, and send the target motion state information to the first control module 11 through the second high-speed data distribution module 14 and the first high-speed data distribution module 13;

[0032] The first control module 11 is further used to generate motion control information according to the target motion state information, and control the robot based on the motion control information.

[0033] In this embodiment, the robot control system 1 can be specifically understood as a system for controlling the motion state of the robot and performing comprehensive control on the task execution state determined by the operation of the algorithm function. The first control module 11 can be specifically understood as a module in the robot control system 1 for operating and controlling functions with higher real-time requirements. For example, the first control module 11 can be a control module for motor control, anti-collision signal processing, etc. of the robot that requires real-time response. Optionally, the first control module 11 can be implemented by a real-time operating system (RTOS).

[0034] In this embodiment, the second control module 12 can be specifically understood as a module in the robot control system 1 for processing tasks with relatively low real-time requirements and high computational requirements. Exemplarily, the second control module 12 can be a module for performing computations on information such as mapping, positioning, navigation, and actions or destination positions required for the robot's work. Optionally, the second control module 12 can be implemented by a non-real-time operating system, which can be a Linux operating system or other systems that can implement the above-mentioned data computation and processing functions. The embodiments of the present invention are not limited to this.

[0035] In this embodiment, the first high-speed data distribution module 13 can be specifically understood as a module in the robot control system 1 for receiving information input from the outside to the first control module 11, and sending the information that the first control module 11 needs to output to the outside. The second high-speed data distribution module 14 can be specifically understood as a module in the robot control system 1 for receiving information input from the outside to the second control module 12, and sending the information that the second control module 12 needs to output to the outside. Optionally, the first high-speed data distribution module 13 and the second high-speed data distribution module 14 can use a high-speed data distribution system algorithm (Fast Data Distribution Service, Fast DDS) to achieve data transmission. In the embodiment of the present invention, the first high-speed data distribution module 13 and the second high-speed data distribution module 14 are respectively set to correspond to the first control module 11 and the second control module 12, and are mainly used to achieve data transmission between the first control module 11 and the second control module 12.

[0036] In this embodiment, the external wake-up signal can be specifically understood as a signal given by the outside of the robot to indicate that the robot controlled by the robot control system 1 needs to perform a task. The motion state information can be specifically understood as information indicating the current motion status and self-state of the robot. For example, the motion state information may include information such as the current speed, angle and battery power of the robot, which is not limited in this embodiment of the present invention. The external control instruction can be specifically understood as an instruction input by the robot's external interactive interface to indicate that the user wants to execute control content on the robot. The external sensor information can be specifically understood as a sensor signal received by a sensor that directly communicates with the second control module 12 to indicate the external environment of the robot. The target motion state information can be specifically understood as the motion state that the robot needs to adjust to, which is determined by the second control module 12 in combination with user needs, the current motion state of the robot and the current external environment of the robot. The motion control information can be specifically understood as a control instruction generated by the first control module 11, which can be used to control the actual motion control module in the robot so that the robot reaches the motion state corresponding to the target motion state information.

[0037] Specifically, the robot control system 1 can be generally set in various types of robots, which may include a first control module 11, a second control module 12, a first high-speed data distribution module 13 and a second high-speed data distribution module 14. In order to improve the utilization rate of hardware resources used for data processing and robot control in the robot, in the embodiment of the present invention, the first control module 11, the second control module 12, the first high-speed data distribution module 13 and the second high-speed data distribution module 14 are set on the same chip in the robot. Since the first control module 11 and the second control module 12 have different control modes for family members, they use different operation control systems. In order to achieve isolation between different systems, the embodiment of the present invention uses a chip with dual cores. The first control module 11 and the second control module 12 are respectively carried by different cores in the chip, so that the operation of the first control module 11 and the second control module 12 does not affect each other. At the same time, in order to achieve information exchange between the first control module 11 and the second control module 12, a high-speed data distribution module based on the Fast DDS algorithm for communication is set for the first control module 11 and the second control module 12. The high-speed data distribution module corresponding to the first control module 11 is determined as the first high-speed data distribution module 13. Data communication can be achieved between the first control module 11 and the first high-speed data distribution module 13 through an interface connection, and the first control module 11 and the first high-speed data distribution module 13 need to be carried by the same core in the chip. In the embodiment of the present invention, the core used to carry the first control module 11 and the first high-speed data distribution module 13 is determined as the first core 21. The high-speed data distribution module corresponding to the second control module 12 is determined as the second high-speed data distribution module 14. Data communication can be achieved between the second control module 12 and the second high-speed data distribution module 14 through an interface, and the second control module 12 and the second high-speed data distribution module 14 need to be carried by the same core in the chip. In the embodiment of the present invention, the core used to carry the second control module 12 and the second high-speed data distribution module 14 is determined as the second core 22. In order to realize information exchange between the first high-speed data distribution module 13 and the second high-speed data distribution module 14, a network interface can be respectively set on the first core 21 and the second core 22, and the network interface can be a network card, so that the first high-speed data distribution module 13 and the second high-speed data distribution module 14 are communicatively connected through the network interface, and then the first control module 11 and the second control module 12 can realize information transmission between each other based on the first high-speed data distribution module 13 and the second high-speed data distribution module 14.

[0038] Specifically, when it is necessary to control the robot through the above-mentioned robot control system 1, the control modules in the robot control system 1 may not all be in operation. Instead, the first control module 11 monitors the external signal until the first control module 11 receives an external wake-up signal. Then, the first control module 11 controls the second control module 12 to start. The first control module 11 sends the motion state information obtained by itself, which is used to indicate the current motion and working state of the robot, to the second control module 12 via the first high-speed data distribution module 13 and the second high-speed data distribution module 14. After accepting the control start of the first control module 11, the second control module 12 can complete the reception of external control instructions and / or external sensor information based on its own interface connected to the outside or other interaction methods, and then after receiving the motion state information sent by the first control module 11, it can determine the motion state to which the robot needs to be adjusted based on at least one of the above-mentioned external control instructions, external sensor information and some state information, and use the parameter information corresponding to the motion state as the target motion state information, and send it back to the first control module 11 through the second high-speed data distribution module 14 and the first high-speed data distribution module 13, so that the first control module 11 can complete the generation of control instructions for the robot to reach the motion state corresponding to the target motion state information based on the received target motion state information, and complete the control of the robot based on the generated control instructions.

[0039] Optionally, the second control module 12 is further used to generate notification information when there is no data processing demand, and send the notification information to the first control module 11; the first control module 11 is further used to control the second control module 12 to shut down when receiving the notification information.

[0040] In this embodiment, the notification information can be specifically understood as information generated by the second control module 12 to notify the first control module 11 that it no longer needs to perform processing tasks.

[0041] Specifically, the second control module 12 can generate a notification message when it completes all task operations for robot control and determines that it has no data processing requirements, and send the notification message to the first control module 11 through the second high-speed data distribution module 14 and the first high-speed data distribution module 13, so as to notify the first control module 11 that it is in an idle state and can be shut down. Then, when the first control module 11 receives the notification message, it can control the second control module 12 to shut down, so that the second control module 12 can be shut down when there is no work requirement, and it will not be awakened until the first control module 11 receives an external wake-up signal again. Since the second control module 12 can be shut down during the operation of the robot control system 1, the power consumption of the robot control system 1 during the overall operation is reduced, thereby extending the overall operation time of the robot equipped with the robot control system 1.

[0042] Optionally, the first core 21 in the robot control system 1 where the first control module 11 and the first high-speed data distribution module 13 are located is a non-stop power-off core. This setting enables the first control module 11 on the first core 21 to be powered on immediately after the robot is powered on, and to remain powered on throughout the control process, thereby achieving the separate dormancy of the second control module 12. At the same time, since the data processing implemented by the first control module 11 and the operating system configured by itself are systems with higher stability, the first core 21 is set as a non-stop power-off core so that the first control module 11 remains powered on during the robot control process, which can reduce the overall power consumption for the robot control while ensuring the control safety of the robot control system 1 by using the first control module 11 with higher stability.

[0043] Optionally, the main frequency of the second core 22 corresponding to the robot control system 1 is greater than the main frequency of the first core 21 .

[0044] Specifically, since the second control module 12 has higher data computing requirements, the second control module 12 can be set on the second core 22 with a higher main frequency in the chip; and since the first control module 11 has lower data computing requirements and needs to maintain power supply during the robot control process, in order to reduce power consumption and idle hardware resources, the first control module 11 can be set on the first core 21 with a lower main frequency in the chip.

[0045] The technical solution of the embodiment of the present invention provides a robot control system, a chip and a robot, including: a first control module, a second control module, a first high-speed data distribution module and a second high-speed data distribution module; wherein the first control module and the first high-speed data distribution module are carried by the first core, the second control module and the second high-speed data distribution module are carried by the second core, and the first core and the second core are two cores on the same chip; the first high-speed data distribution module and the second high-speed data distribution module are connected through a network interface communication, and are used for information transmission between the first control module and the second control module; the first control module is connected to the first high-speed data distribution module, and is used to control the second control module to start when receiving an external wake-up signal, and send the acquired motion state information to the second control module through the first high-speed data distribution module and the second high-speed data distribution module; the second control module is connected to the second high-speed data distribution module, and is used to determine the target motion state information according to at least one of the received external control instructions, external sensor information and motion state information, and send the target motion state information to the first control module through the second high-speed data distribution module and the first high-speed data distribution module; the first control module is also used to generate motion control information according to the target motion state information, and control the robot based on the motion control information. By adopting the above technical solution, different control modules for robot control are arranged on different cores of the same chip, and high-speed data distribution modules for data transmission are arranged for different control modules, so that more complex data messages can be transmitted between the two control modules, and the timeliness of data communication is improved. At the same time, since the two different control modules are arranged on the same chip, full utilization of chip hardware resources is achieved, and since the two do not need to be connected through a serial port line, the stability and reliability reduction caused by wiring failure is avoided. Further, since in the embodiment of the present invention, the first control module will control the second control module to start only when receiving an external wake-up signal, it can be considered that there is no need to keep all control modules awake during the control process, and the module with higher reliability in the two control modules can be selected to start the other control module, which improves the overall reliability and safety of the robot control system, reduces the overall power consumption of the operation, and can greatly improve the running time of the robot controlled by the robot control system.

[0046] Embodiment 2

[0047] Figure 2 This is a schematic diagram of the structure of a robot control system provided in Embodiment 2 of the present invention. The embodiment of the present invention is further refined on the basis of the above-mentioned optional implementation modes, such as Figure 2 As shown, the first control module 11 includes: a sensor interface 111 .

[0048] The first control module 11 is specifically used to receive an external wake-up signal through the sensor interface 111, and control the second control module 12 to start up when the external wake-up signal is received.

[0049] In this embodiment, the sensor interface 111 can be specifically understood as an interface provided in the first control module 11, which enables the first control module 11 to receive signals obtained from sensors provided on the robot. It can be understood that the sensor corresponding to the sensor interface 111 can be a sensor provided on the robot for collecting external wake-up signals that can represent the user's need to wake up the robot for control. Exemplarily, the external wake-up signal may include serial port data and level signals, etc., and the sensor corresponding to the external wake-up signal may be a microphone, an infrared ranging sensor, a switch, etc., which can be used as an event trigger sensor, and the embodiment of the present invention does not limit this.

[0050] Specifically, the first control module 11 may include a sensor interface 111 that is connected to a sensor provided on the robot to receive sensor collected data. The first control module 11 can receive an external wake-up signal through the sensor interface 111, and control the second control module 12 to start when receiving the external wake-up signal.

[0051] Optional, Figure 3 This is a schematic diagram of the structure of another robot control system provided in Embodiment 2 of the present invention. The embodiment of the present invention is further refined on the basis of the above-mentioned optional implementation modes, such as Figure 3 As shown, the first control module 11 further includes: a motor control interface 112 and an inertial navigation control interface 113 .

[0052] The first control module 11 is specifically used to obtain motion state information through the motor control interface 112 and the inertial navigation control interface 113, and send motion control information through the motor control interface 112 and the inertial navigation control interface 113 respectively, so as to control the robot.

[0053] In this embodiment, the motor control interface 112 can be specifically understood as an interface provided in the first control module 11 for realizing communication between the first control module 11 and the motor used to control the movement of the robot. The inertial navigation control interface 113 can be specifically understood as an interface provided in the first control module 11 for realizing communication between the first control module 11 and the inertial navigation module provided on the robot.

[0054] Specifically, during the operation of the robot, the motor and inertial navigation module provided on the robot can send their own working conditions and the acquired external information to the first control module 11 through the motor control interface 112 and the inertial navigation control interface 113, respectively, so that the first control module 11 can comprehensively determine the motion state information of the robot based on the acquired information. At the same time, after the first control module 11 generates corresponding motion control information according to the target motion state information, the motion control information can be sent to the motor and inertial navigation module configured on the robot through the motor control interface 112 and the inertial navigation control interface 113, respectively, so that the motor and inertial navigation module can respond to the control of the motion control information, thereby completing the control of the robot.

[0055] Optional, Figure 4 This is a schematic diagram of the structure of another robot control system provided in Embodiment 2 of the present invention. The embodiment of the present invention is further refined on the basis of the above-mentioned optional implementation modes, such as Figure 4 As shown, the second control module 12 includes: a radar interface 121 and a camera interface 122 .

[0056] The second control module 12 is specifically used to receive external sensor information through the radar interface 121 and the camera interface 122 .

[0057] In this embodiment, the radar interface 121 can be specifically understood as an interface provided in the second control module 12, which enables the second control module 12 to receive data transmitted by the laser radar provided on the robot. The camera interface 122 can be specifically understood as an interface provided in the second control module 12, which enables the second control module 12 to receive data collected by the depth camera or laser camera provided on the robot.

[0058] Specifically, after being awakened, the second control module 12 can obtain data collected by the laser radar and various cameras installed on the robot through the radar interface 121 and the camera interface 122 installed thereon, and integrate the acquired data as external sensor information.

[0059] Optional, Figure 5 This is a schematic diagram of the structure of another robot control system provided in Embodiment 2 of the present invention. The embodiment of the present invention is further refined on the basis of the above-mentioned optional implementation modes, such as Figure 5 As shown, the second control module 12 further includes: an external command interface 123 .

[0060] The second control module 12 is specifically used to receive external control instructions through the external instruction interface 123 .

[0061] In this embodiment, the external command interface 123 can be specifically understood as an interface provided in the second control module 12 to enable the second control module 12 to receive control commands given by an external user for the robot. Optionally, the external command interface 123 can be connected to a screen provided on the robot that can display different interactive interfaces and is used to interact with the user, or can be connected to other components that can be used to receive external control commands, and the embodiment of the present invention is not limited to this.

[0062] Optionally, an Android virtual machine for replacing the interaction layer in the robot may be provided in the second core 22, and a corresponding third high-speed data distribution module may be provided for the Android virtual machine, so that after receiving the external control instruction given by the user, the Android virtual machine may send the external control instruction to the second high-speed data distribution module 14 through the third high-speed data distribution module, and then the second control module 12 may obtain the external control instruction from the second high-speed data distribution module 14.

[0063] Embodiment 3

[0064] Figure 6 This is a schematic diagram of the structure of a robot control chip provided by Embodiment 3 of the present invention. Figure 6 As shown, the robot control chip 2 includes at least a first core 21 and a second core 22 .

[0065] The first core 21 and the second core 22 carry a robot control system as in any of the above embodiments.

[0066] Embodiment 4

[0067] Figure 7 This is a schematic diagram of the structure of a robot provided by the fourth embodiment of the present invention. Figure 7 As shown, the robot 3 at least includes a robot control chip 2 as provided in any of the above embodiments, and a sensor 31 and a motor 32 connected to the robot control chip 2 .

[0068] Optionally, the sensor 31 may be a variety of sensors provided on the robot 3, such as a laser radar, a camera, an infrared distance sensor, and a pressure sensor, etc. The above-mentioned various types of sensors 31 may be connected through different interfaces in the robot control chip 2 according to different functions, so as to provide information acquisition and control for the robot control system 1 carried by the robot control chip 2. The motor 32 may be a hardware device provided on the robot 3 for controlling the movement of the robot 3, which may be connected to the robot control chip 2 through an interface, send the collected information to the robot control chip 2 through the interface, and receive the control signal given by the robot control chip 2, so as to complete the control of the movement of the robot 3 according to the control signal.

[0069] To provide interaction with a user, the systems and techniques described herein may be implemented on a robot 3 having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0070] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0071] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0072] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0073] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot control system, characterized in that: include: A first control module, a second control module, a first high-speed data distribution module, and a second high-speed data distribution module; wherein the first control module and the first high-speed data distribution module are carried by a first core, the second control module and the second high-speed data distribution module are carried by a second core, and the first core and the second core are two cores on the same chip; The first high-speed data distribution module and the second high-speed data distribution module are communicatively connected via a network interface, and are used for information transmission between the first control module and the second control module; The first control module is connected to the first high-speed data distribution module, and is used to control the second control module to start up when receiving an external wake-up signal, and send the acquired motion state information to the second control module through the first high-speed data distribution module and the second high-speed data distribution module; The second control module is connected to the second high-speed data distribution module, and is used to determine the target motion state information according to at least one of the received external control instructions, external sensor information and the motion state information, and send the target motion state information to the first control module through the second high-speed data distribution module and the first high-speed data distribution module; The first control module is further used to generate motion control information according to the target motion state information, and control the robot based on the motion control information.

2. The robot control system according to claim 1, characterized in that: The second control module is further used to generate notification information when there is no data processing demand, and send the notification information to the first control module; The first control module is further configured to control the second control module to shut down when receiving the notification information.

3. The robot control system according to claim 1, characterized in that: The first control module includes: a sensor interface; the first control module is specifically used for: An external wake-up signal is received through the sensor interface, and the second control module is controlled to start when the external wake-up signal is received.

4. The robot control system according to claim 3, characterized in that: The first control module further includes: a motor control interface and an inertial navigation control interface; the first control module is specifically used for: The motion state information is acquired through the motor control interface and the inertial navigation control interface, and the motion control information is sent out through the motor control interface and the inertial navigation control interface respectively, so as to control the robot.

5. The robot control system according to claim 1, characterized in that: The second control module includes: a radar interface and a camera interface; the second control module is specifically used to: receive external sensor information through the radar interface and the camera interface.

6. The robot control system according to claim 5, characterized in that: The second control module further includes: an external command interface; the second control module is specifically used to: receive external control commands through the external command interface.

7. The robot control system according to any one of claims 1 to 6, characterized in that: The first core is a non-stop power core.

8. The robot control system according to any one of claims 1 to 6, characterized in that: The main frequency of the second core is greater than the main frequency of the first core.

9. A robot control chip, characterized in that: include: The first core and the second core; The first core and the second core carry the robot control system as described in any one of claims 1-8.

10. A robot, characterized in that: include: The robot control chip as claimed in claim 9; And, sensors and motors connected to the robot control chip.

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