A robot control system, chip and robot

Abstract

The embodiment of the application discloses a kind of robot control system, chip and robot, comprising: first control module, second control module, first high-speed data distribution module and second high-speed data distribution module;Wherein, first control module and first high-speed data distribution module are carried by first kernel, and second control module and second high-speed data distribution module are carried by second kernel, and first kernel and second kernel are two kernels on the same chip;First control module is used to control second control module to start when receiving external wake-up signal, and the motion state information obtained is sent to second control module;Second control module is used to determine target motion state information according to at least one of received external control instruction, external sensing information and motion state information, and target motion state information is sent to first control module.The utilization of hardware resources in the control process of robot is improved, and the overall power consumption of operation is reduced.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robot control system, a chip, and a robot. Background Technology

[0002] With the rapid development of technology, robots have been gradually applied to industry and daily life. A robot is a 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] Currently, robot control often employs a three-layer or two-layer hardware and software architecture. This means that the motion control system serves as the bottom layer, handling tasks with high real-time requirements, while the system layer and / or interaction layer serve as the upper layer, handling non-real-time tasks with lower real-time requirements but higher computational demands.

[0004] However, since external control operations for robots are often implemented at the lower level, abundant hardware resources at the upper level are left idle. Furthermore, the connection between the upper and lower levels is often via serial cables, which are prone to wiring failures and have limited communication speed, making it difficult to meet the high real-time requirements of robot control. Additionally, when different operating systems are used at the upper level, independent hardware configurations are often required. Moreover, different drivers need to be developed for different operating systems when external devices are connected, increasing software development costs, raising the difficulty of robot control, and reducing the robot's practicality. Summary of the Invention

[0005] This invention provides a robot control system, chip, and robot, which improves the utilization of hardware resources during robot control, reduces overall power consumption, and enhances communication efficiency, reliability, and safety during robot operation.

[0006] In a first aspect, embodiments of the present invention provide 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 connected via a network interface 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 when an external wake-up signal is received, and to 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 commands, external sensing 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 based on the target motion state information, and to control the robot based on the motion control information.

[0011] Secondly, embodiments of the present invention also provide a robot control chip, including: a first core and a second core;

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

[0013] Thirdly, embodiments of the present invention also provide a robot, including: a robot control chip as described in any of the above embodiments, and sensors and motors connected to the robot control chip.

[0014] This invention provides a robot control system, chip, and 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, and the second control module and the second high-speed data distribution module are carried by a second core, the first core and the second core being two cores on the same chip; the first high-speed data distribution module and the second high-speed data distribution module are connected via a network interface 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 upon receiving an external wake-up signal, and to send the acquired motion state information to the second control module via 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 target motion state information based on at least one of received external control commands, external sensor information, and motion state information, and to send the target motion state information to the first control module via 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 based on the target motion state information and to control the robot based on the motion control information. By adopting the above technical solution, different control modules for robot control are distributed on different cores of the same chip, and high-speed data distribution modules are set up for different control modules to transmit data. This enables the transmission of more complex data messages between the two control modules, improving the timeliness of data communication. Simultaneously, since the two different control modules are located on the same chip, full utilization of chip hardware resources is achieved. Furthermore, since they do not need to be connected via a serial cable, stability and reliability degradation due to wiring failures are avoided. Further, in this embodiment, since the first control module only controls the second control module to start upon receiving an external wake-up signal, it can be considered that it is unnecessary to keep all control modules awake during the control process. Moreover, the more reliable module can be selected to trigger the activation of the other control module, improving the overall reliability and security of the robot control system, reducing overall power consumption, and thus significantly increasing the running time of the robot controlled by this system.

[0015] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

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

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

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

[0022] Figure 6 This is 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 Implementation

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort 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, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] Example 1

[0027] Figure 1 This is a schematic diagram of a robot control system provided in Embodiment 1 of the present invention. This robot control system is applicable to situations requiring reduced robot control complexity and reliable, safe control of the robot. The robot control system 1 can be used to control 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, or a public entertainment robot, etc. This embodiment of the invention does not impose any limitations on 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, and the second control module 12 and the second high-speed data distribution module 14 are carried by the second core 22. 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 connected via a network interface 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 when an external wake-up signal is received, and to 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 command, external sensing 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 also used to generate motion control information based on the target motion state information, and to 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 robot's motion state and comprehensively controlling the task execution state determined by the algorithm function. The first control module 11 can be specifically understood as a module in the robot control system 1 used for operating and controlling functions with higher real-time requirements. For example, the first control module 11 can be a control module that requires real-time response, such as motor control and collision avoidance signal processing for the robot. Optionally, the first control module 11 can be implemented through 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 used to process tasks with relatively low real-time requirements but high computational requirements. For example, the second control module 12 can be a module used to process information such as mapping, positioning, navigation, and the actions or target positions required for robot operation. Optionally, the second control module 12 can be implemented through a non-real-time operating system, which can be a Linux operating system or other systems that can implement the above-mentioned data processing functions. This embodiment of the invention does not limit 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 used to receive information input from the outside to the first control module 11 and to send 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 used to receive information input from the outside to the second control module 12 and to send 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 implement data transmission. In this embodiment of the 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, mainly used to realize 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 from outside the robot to indicate that the robot needs to be controlled by the robot control system 1 to perform a task. Motion state information can be specifically understood as information indicating the robot's current motion and its own state. For example, motion state information may include the robot's current speed, angle, and battery level, etc., but this embodiment of the invention does not limit this. External control commands can be specifically understood as instructions input from the robot's external interface to indicate the user's desired control actions on the robot. External sensing information can be specifically understood as sensor signals received by sensors that communicate directly with the second control module 12 to indicate the robot's external environment. Target motion state information can be specifically understood as the motion state that the second control module 12 determines, based on user needs, the robot's current motion state, and the robot's current external environment, to which the robot needs to adjust. Motion control information can be specifically understood as control commands generated by the first control module 11, which can be used to control the actual motion control modules within the robot, enabling the robot to achieve the motion state corresponding to the target motion state information.

[0037] Specifically, the robot control system 1 can be universally installed in various types of robots, and 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. To improve the utilization rate of hardware resources used for data processing and robot control in the robot, in this embodiment of the 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 installed on the same chip within the robot. Since the first control module 11 and the second control module 12 are designed for different control methods, they employ different operating control systems. To achieve isolation between these different systems, this embodiment of the invention uses a chip with dual cores. The first control module 11 and the second control module 12 are carried by different cores within the chip, ensuring that the operation of the first control module 11 and the second control module 12 does not affect each other. Simultaneously, 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 is provided for communication between 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 designated as the first high-speed data distribution module 13. The first control module 11 and the first high-speed data distribution module 13 can communicate via an interface. Both modules are hosted by the same core within the chip. In this embodiment, the core used to host the first control module 11 and the first high-speed data distribution module 13 is designated as the first core 21. The high-speed data distribution module corresponding to the second control module 12 is designated as the second high-speed data distribution module 14. The second control module 12 and the second high-speed data distribution module 14 can communicate via an interface. Both modules are hosted by the same core within the chip. In this embodiment, the core used to host the second control module 12 and the second high-speed data distribution module 14 is designated as the second core 22. To enable information exchange between the first high-speed data distribution module 13 and the second high-speed data distribution module 14, network interfaces, which can be network cards, can be set on the first kernel 21 and the second kernel 22 respectively. This allows the first high-speed data distribution module 13 and the second high-speed data distribution module 14 to communicate and connect through the network interface, thereby enabling the first control module 11 and the second control module 12 to transmit information to 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 robot control system 1, not all control modules in the robot control system 1 may be in operation. Instead, the first control module 11 monitors external signals. Only when the first control module 11 receives an external wake-up signal will the first control module 11 control the second control module 12 to start. The first control module 11 then sends the motion state information it has acquired, which indicates the robot's current motion and working state, 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 the second control module 12 is activated by the control of the first control module 11, it can receive external control commands and / or external sensor information through its own interface or other interaction methods. After receiving the motion state information sent by the first control module 11, it can determine the motion state that the robot needs to be adjusted to based on at least one of the aforementioned external control commands, external sensor information, and motion state information. It then sends the parameter information corresponding to the motion state as the target motion state information 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. This allows the first control module 11 to generate control commands that enable the robot to reach the motion state corresponding to the target motion state information based on the received target motion state information, and to control the robot based on the generated control commands.

[0039] Optionally, the second control module 12 is further configured to generate notification information when there is no data processing requirement and send the notification information to the first control module 11; the first control module 11 is further configured to control the second control module 12 to shut down when it receives 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 when it no longer needs to perform any processing tasks.

[0041] Specifically, the second control module 12 can generate a notification message when it has completed all task calculations for robot control and determined that it has no further data processing needs. This notification message is then sent to the first control module 11 via the second high-speed data distribution module 14 and the first high-speed data distribution module 13, informing the first control module 11 that it is now idle and can be shut down. Upon receiving this notification, the first control module 11 can control the second control module 12 to shut down, allowing it to remain off when there is no operational need, until the first control module 11 receives an external wake-up signal. Because the second control module 12 can be shut down during the operation of the robot control system 1, the overall power consumption of the robot control system 1 is reduced, thereby extending the overall operating time of the robot equipped with the robot control system 1.

[0042] Optionally, the first kernel 21, where the first control module 11 and the first high-speed data distribution module 13 are located in the robot control system 1, is an uninterruptible power-on (UPS) kernel. This setting allows the first control module 11 on the first kernel 21 to power on immediately after the robot is powered on, and to remain powered on throughout the entire control process, thereby enabling the second control module 12 to enter sleep mode independently. Furthermore, since the data processing implemented by the first control module 11 and its configured operating system are more stable systems, setting the first kernel 21 as an UPS ensures that the first control module 11 remains powered on during robot control, reducing the overall power consumption for robot control while ensuring the control safety of the robot control system 1 by utilizing the more stable first control module 11.

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

[0044] Specifically, since the second control module 12 has higher data processing requirements, it can be placed on the second core 22 with a higher clock frequency in the chip; while since the first control module 11 has lower data processing requirements and needs to be kept powered on during robot control, in order to reduce power consumption and idle hardware resources, the first control module 11 can be placed on the first core 21 with a lower clock frequency in the chip.

[0045] The technical solution of this invention provides a robot control system, chip, and 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 a first core, and 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 connected via a network interface 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 target motion state information according to at least one of 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 based on 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 distributed on different cores of the same chip, and high-speed data distribution modules are set up for different control modules to transmit data. This enables the transmission of more complex data messages between the two control modules, improving the timeliness of data communication. Simultaneously, since the two different control modules are located on the same chip, full utilization of chip hardware resources is achieved. Furthermore, since they do not need to be connected via a serial cable, stability and reliability degradation due to wiring failures are avoided. Further, in this embodiment, since the first control module only controls the second control module to start upon receiving an external wake-up signal, it can be considered that it is unnecessary to keep all control modules awake during the control process. Moreover, the more reliable module can be selected to trigger the activation of the other control module, improving the overall reliability and security of the robot control system, reducing overall power consumption, and thus significantly increasing the running time of the robot controlled by this system.

[0046] Example 2

[0047] Figure 2 This is a schematic diagram of a robot control system provided in Embodiment 2 of the present invention. The embodiments of the present invention are further refined based on the above-mentioned optional implementation methods, 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 when the external wake-up signal is received.

[0049] In this embodiment, the sensor interface 111 can be specifically understood as an interface set in the first control module 11, used to enable the first control module 11 to receive signals acquired from sensors set on the robot. It is understood that the sensor corresponding to the sensor interface 111 can be a sensor set on the robot used to collect external wake-up signals that represent a user's need to wake up the robot for control. For example, 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, or a switch, etc., which can be triggered by events. This embodiment of the invention does not impose any limitations on this.

[0050] Specifically, the first control module 11 may include a sensor interface 111 that connects to the sensors installed on the robot to receive sensor data. The first control module 11 can receive external wake-up signals through the sensor interface 111 and control the second control module 12 to start when the external wake-up signal is received.

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

[0052] The first control module 11 is specifically used to: acquire 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 to control the robot.

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

[0054] Specifically, during robot operation, the motors and inertial navigation modules installed on the robot can send their own operating status and acquired external information to the first control module 11 through the motor control interface 112 and the inertial navigation control interface 113, respectively. This allows the first control module 11 to comprehensively determine the robot's motion state information based on the acquired information. Simultaneously, after the first control module 11 generates corresponding motion control information based on the target motion state information, it can send this motion control information to the motors and inertial navigation modules configured on the robot through the motor control interface 112 and the inertial navigation control interface 113, respectively. This allows the motors and inertial navigation modules to respond to the motion control information, thereby completing the control of the robot.

[0055] Optional, Figure 4 This is a schematic diagram of another robot control system provided in Embodiment 2 of the present invention. The embodiments of the present invention are further refined based on the above-mentioned optional implementation methods, 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 sensing 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, used to enable the second control module 12 to receive data transmitted by the lidar installed on the robot. The camera interface 122 can be specifically understood as an interface provided in the second control module 12, used to enable the second control module 12 to receive data collected by the depth camera or lidar installed on the robot.

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

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

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

[0061] In this embodiment, the external command interface 123 can be specifically understood as an interface set in the second control module 12, used to enable the second control module 12 to receive control commands for the robot given by an external user. Optionally, the external command interface 123 can be connected to a screen on the robot that can display different interactive interfaces for interaction with the user, or it can be connected to other components that can be used to receive external control commands. This embodiment of the invention does not impose any limitations on this.

[0062] Optionally, the second kernel 22 may also include an Android virtual machine to replace the interaction layer in the robot, and a corresponding third high-speed data distribution module may be configured for this Android virtual machine. This allows the Android virtual machine to send external control commands to the second high-speed data distribution module 14 via the third high-speed data distribution module after receiving them from the user, thus enabling the second control module 12 to obtain the external control commands from the second high-speed data distribution module 14.

[0063] Example 3

[0064] Figure 6 This is a schematic diagram of the structure of a robot control chip provided in 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 the robot control system as described in any of the above embodiments.

[0066] Example 4

[0067] Figure 7 This is a structural schematic diagram of a robot provided in Embodiment 4 of the present invention. Figure 7 As shown, the robot 3 includes at least a robot control chip 2 as provided in any of the above embodiments, as well as a sensor 31 and a motor 32 connected to the robot control chip 2.

[0068] Optionally, sensor 31 can be various types of sensors installed on robot 3, such as lidar, camera, infrared ranging sensor, and pressure sensor. These various sensors 31 can be connected to different interfaces in robot control chip 2 according to their different functions, so that the robot control system 1 carried by robot control chip 2 can acquire and control information. Motor 32 can be a hardware device installed on robot 3 to control the movements of robot 3. It can be connected to robot control chip 2 through an interface, sending the collected information to robot control chip 2 via the interface, and receiving control signals from robot control chip 2 to control the movements of robot 3 according to the control signals.

[0069] To provide interaction with the user, the systems and techniques described herein can be implemented on robot 3, which includes: 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 provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0070] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0071] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0072] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and no limitation is imposed herein.

[0073] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this 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 connected via a network interface 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 an external wake-up signal is received, and to 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 command, external sensing 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 configured to generate motion control information based on 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 also used to generate notification information when there is no data processing requirement, 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 upon 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: The system receives an external wake-up signal through the sensor interface and controls the second control module 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 obtained 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 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 sensing 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 1-6, characterized in that, The first kernel is a non-power-off kernel.

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

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

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

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