Controller and robot system

Abstract

The invention discloses a controller and a robot system, the controller comprises a basic control module and at least one expansion interface, and the basic control module is connected with the at least one expansion interface through a communication bus; the basic control module is used for controlling basic functions of the robot; the expansion interface is used for expanding the newly added function module; and the newly-added function module is used for controlling newly-added functions of the robot. Therefore, the basic functions of the robot can be realized by using the basic control module with lower configuration, so that the cost of the controller is reduced. And a user can expand the newly-added function module through the expansion interface according to actual requirements, so that the application performance requirement of the controller is increased through mutual cooperation of the newly-added function module and the basic control module, the newly-added function of the robot is achieved, and the configuration flexibility of the controller is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot controller architecture, and more particularly, to a controller and a robot system. BACKGROUND

[0002] The centralized controller is generally deployed with large computing capacity and more interfaces in advance, that is, a high-performance processor is configured in advance and various processing functions of the processor are realized through software upgrade. However, due to the fact that some hardware interfaces and acceleration units cannot be predicted in advance, the centralized controller lacks configuration flexibility. SUMMARY

[0003] In view of the above problems, the present application provides a controller and a robot system, which can effectively improve the flexibility of controller configuration and effectively reduce the cost of the controller.

[0004] In a first aspect, the present application provides a controller, which comprises a basic control module and at least one expansion interface, wherein the basic control module is connected with the at least one expansion interface through a communication bus; the basic control module is used to control basic functions of a robot; and the expansion interface is used to expand a new function module; and the new function module is used to control new functions of the robot.

[0005] In a second aspect, the present application further provides a robot system, which comprises a robot and the above-mentioned controller.

[0006] The controller provided by the present application comprises a basic control module and at least one expansion interface, wherein the basic control module is connected with the at least one expansion interface through a communication bus; the basic control module is used to control basic functions of a robot; the expansion interface is used to expand a new function module; and the new function module is used to control new functions of the robot. Thus, the basic functions of the robot can be realized by using a basic control module with lower configuration, so as to reduce the cost of the controller. Moreover, the user can expand a new function module through the expansion interface according to actual needs, so as to increase the application performance requirements of the controller by means of the cooperation between the new function module and the basic control module, thereby realizing the new functions of the robot and improving the flexibility of controller configuration. BRIEF DESCRIPTION OF DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, but not all embodiments. Based on the embodiments of the present application, all other embodiments and drawings obtained by those skilled in the art without creative labor are within the scope of the present application.

[0008] Figure 1 This is a schematic diagram of the structure of a robot system provided in an embodiment of this application.

[0009] Figure 2 This is a schematic diagram of the structure of a controller provided in an embodiment of this application.

[0010] Figure 3 This is a schematic diagram of another controller provided in an embodiment of this application. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0012] In the following description, references to "some embodiments" describe a subset of all possible embodiments; however, it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict. In the following description, the term "a plurality of" means at least two.

[0013] In the following description, the terms "first" and "second" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first" and "second" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0014] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0015] With the development of industrial automation technology, the performance requirements for robots are increasing. For example, robots need more accurate and faster visual positioning, more accurate product defect detection, more efficient data communication, and better human-machine interaction. However, these performance requirements often involve more advanced control, communication, and detection technologies, such as visual inspection technology based on artificial intelligence (AI) models, 5G (5th Generation Mobile Communication Technology), and fieldbus technology that considers functional safety and high real-time performance.

[0016] Understandably, introducing new control, communication, and detection technologies will impose new application performance requirements on the robot's main control system. For example, when introducing visual detection technology based on Artificial Intelligence (AI) models, the main control system needs to adopt new processor architectures such as Graphics Processing Units (GPUs) / Tensor Processing Units (TPUs), and requires the use of dedicated baseband chips or modules, as well as Application-Specific Integrated Circuits (ASICs) or protocol stacks. Therefore, to meet these new application performance requirements, the robot's main control system needs to provide additional processing modules, as well as corresponding power supplies and external interfaces.

[0017] In related technologies, the main control system of robots typically employs a centralized controller. Centralized controllers generally involve pre-deploying significant computing power and numerous interfaces; that is, pre-configuring a high-performance processor and implementing its various processing functions through software upgrades. On the one hand, the need for a more powerful processor leads to higher controller costs. On the other hand, the existence of unpredictable hardware interfaces and acceleration units results in a lack of configuration flexibility for centralized controllers.

[0018] To address the aforementioned issues, this application provides a controller and a robot system. The controller includes a basic control module and at least one expansion interface, wherein the basic control module is connected to the at least one expansion interface via a communication bus; the basic control module controls the robot's basic functions; the expansion interface is used to add new function modules; and the new function modules are used to control the robot's new functions.

[0019] Therefore, basic robot functions can be implemented using a lower-configuration basic control module, reducing controller costs. Furthermore, users can expand the module with additional functionalities via an expansion interface as needed. These new functional modules work in conjunction with the basic control module to increase the controller's performance requirements, thereby enabling new robot functions and improving controller configuration flexibility.

[0020] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0021] Please see Figure 1, Figure 1 This is a schematic diagram of the structure of a robot system provided in an embodiment of this application. Figure 1 As shown, Figure 1 The robot system 100 includes a robot 110 and a controller 120.

[0022] Robot 110 is an intelligent machine capable of semi-autonomous or fully autonomous operation. Robot 110 can perform tasks such as operations or movement according to execution instructions generated by controller 120. Robot 110 includes at least one joint, which is a connection between two links that can move relative to each other. Each joint gives robot 110 one degree of freedom of motion. The motion provided by each joint allows robot 110 to be positioned at a specific location.

[0023] The controller 120 is used to generate corresponding execution instructions based on control commands, and to control the robot 110 to perform operations corresponding to basic or newly added functions through the execution instructions. For details, please refer to... Figure 2 , Figure 2 This is a schematic diagram of the structure of a controller provided in an embodiment of this application. The controller 120 includes: a basic control module 121 and at least one expansion interface 122, wherein:

[0024] The basic control module 121 is used to control the basic functions of the robot 110, the expansion interface 122 is used to expand the new function module 123, and the new function module 123 is used to control the new functions of the robot 110.

[0025] The basic control module 121 is connected to at least one expansion interface 122 via a communication bus, so that the basic control module 121 and the new function module 123 are connected via the communication bus, thereby realizing information interaction between the basic control module 121 and the new function module 123.

[0026] For example, when the basic control module 121 detects a control command, it sends the processing request corresponding to the target new function of the control command to the new function module 123 through the communication bus, so that the new function module 123 can generate control information according to the processing request.

[0027] For example, the new functional module 123 transmits control information to the basic control module 121 via a communication bus, enabling high-speed transmission of communication data between the basic control module 121 and the new functional module 123. For instance, the basic control module 121 can generate execution instructions based on the control information, and then control the operation of the robot 110 according to the execution instructions.

[0028] In this application, the expansion interface 122 and the new functional module 123 are mutually corresponding. That is, one expansion interface 122 can be connected to one new functional module 123. In other words, this application does not limit the number of expansion interfaces 122, and the controller 120 can reserve several expansion interfaces 122 for expanding new functions, that is, for connecting different new functional modules 123.

[0029] In some implementations, when the number of expansion interfaces 122 is limited, the controller 120 can connect to the currently needed new functional modules 123 by disconnecting other new functional modules 123 that are not currently needed.

[0030] The basic control module 121 and the new function module 123 are connected via a communication bus, which facilitates faster interaction between them. In some embodiments, the basic control module 121 and the expansion interface 122 are connected via a high-speed internal communication protocol.

[0031] To ensure bandwidth and real-time performance of data communication between the basic control module 121 and the expansion interface 122, in some embodiments, the basic control module 121 and the expansion interface 122 can also be connected via Peripheral Component Interconnect Express (PCL-E).

[0032] In some embodiments, the basic control module 121 and the expansion interface 122 can also be connected via a gigabit network. In some embodiments, the basic control module 121 and the expansion interface 122 can also be connected via Ethernet Control Automation Technology (EtherCAT). It is understood that this application does not limit the communication connection method between the basic control module 121 and the expansion interface 122, and users can flexibly adjust the communication connection method between the basic control module 121 and the expansion interface 122 according to actual needs.

[0033] The basic functions of the basic control module 121 are to enable high-performance control and human-machine interaction for the robot 110. In some implementations, the basic functions include robot trajectory planning, robot motion control, user program parsing, robot configuration management, and safety control, etc.

[0034] The robot trajectory planning function is implemented by the basic control module 121, which plans the robot's movement trajectory so that the robot 110 moves according to the trajectory (composed of multiple trajectory coordinates) to complete the corresponding task. For example, the basic control module 121 controls the robot 110 to move along a straight line.

[0035] The robot motion control function uses the basic control module 121 to control the movement of the robot 110. For example, the basic control module 121 controls the robot 110 to move an object from position A to position B. The user program parsing function parses the user's programming to make the robot 110 perform corresponding operations, in order to obtain lower-level instructions that include some machine interface elements.

[0036] The robot configuration management function allows for the configuration of robot 110's parameters. For example, it allows for the configuration of certain robot control modes. The safety control function prevents robot 110 from colliding with obstacles, users, or other objects in the environment.

[0037] The new features are extension functions of the controller 120. For example, the robot's functions are divided according to the user's application scenario, thereby defining various extension functions so that the robot 110 can perform the functions required by the user's application scenario.

[0038] In some implementations, the added functions include 3D vision, 2D vision, a Control & Communication Link (CC-Link) system, sixth-generation wireless network technology, and an AI-based robot control platform. Among these, 3D vision and 2D vision are used to recognize and process 2D or 3D images and locate objects, so as to provide target trajectories for the motion planning of robot 110 through the basic control module 121.

[0039] The Control & Communication Link (CC-Link) system and sixth-generation wireless network technology provide more efficient data communication for the robot system 100.

[0040] Since the basic control module 121 only needs to perform some basic functions, it can be configured with a lower-performance processor, thereby reducing the cost of the controller 120. When more advanced requirements need to be introduced to the controller 120, a new function module 123 can be added and connected to the expansion interface 122 to establish a connection between the new function module 123 and the basic control module 121.

[0041] The newly added functional module 123 generates control information and transmits it to the basic control module 121 via the communication bus. The basic control module 121 then generates execution instructions based on the control information to control the robot 110 to complete the corresponding operation. In other words, the newly added functional module 123 handles the part with greater computational power and then transmits the processed results (such as processed robot control instructions, detection data, spatial coordinates, process status values, etc.) to the basic control module 121. The basic control module 121 then completes the part with less computational power based on the processed results.

[0042] For example, in the visual control of the robot, a new functional module 123 (e.g., a vision module) identifies the coordinates of the object, and the new functional module 123 transmits the coordinates of the object to the basic control module 121 through the communication bus. The basic control module 121 controls the robot 110 to move to the coordinates of the object.

[0043] Furthermore, in some embodiments, the basic control module 121 is used to detect control commands, and when the function corresponding to the control command is not a basic function, it determines the target new function corresponding to the control command and sends a processing request to the new function module 123 corresponding to the target new function through the communication bus.

[0044] The control commands can be issued by the user. For example, when a user needs to control the robot 110 for visual control, the user can trigger the robot 110 to enter visual control mode through a mobile device or remote control. In some embodiments, the control commands can also be control commands executed in the code by the controller 120 during the process of controlling the robot 110 to work based on the code stored in the memory.

[0045] When the basic control module 121 detects or receives a control command, the basic control module 121 first determines whether the function corresponding to the control command belongs to the basic function, that is, the basic control module 121 determines whether the function corresponding to the control command can be implemented by the basic control module 121. If it is determined that the basic control module 121 cannot implement the function corresponding to the control command, the basic control module 121 determines the target new function corresponding to the control command, that is, the basic control module 121 determines the new function module 123 that can implement the function corresponding to the control command.

[0046] When the basic control module 121 determines the new function module 123 corresponding to the control command, the basic control module 121 generates a processing request according to the control command and transmits the processing request to the corresponding new function module 123 through the communication bus.

[0047] Conversely, the new function module 123 receives a processing request from the basic control module 121, generates control information based on the processing request, and sends the control information to the basic control module 121. The control information is the result processed by the new function module 123 (e.g., processed robot control commands, detection data, spatial coordinates, process status values, etc.).

[0048] Furthermore, in some embodiments, the basic control module includes a connection unit, a processing unit, and an execution unit. The connection unit is connected to at least one of the expansion interfaces, the processing unit, and the execution unit, respectively, and the processing unit is also connected to the execution unit.

[0049] The connection unit is used to acquire control information; the processing unit is used to generate control parameters based on the control information and send the control parameters to the execution unit; the execution unit is used to generate execution instructions based on the control parameters.

[0050] The new functional module 123 transmits control information to the connection unit through at least one of the expansion interfaces connected to the new functional module 123. The connection unit sends the received control information to the processing unit. The processing unit generates working parameters based on the control information and sends the working parameters to the execution unit. The execution unit encapsulates the working parameters into execution instructions and sends them to the robot so that the robot can complete the corresponding function.

[0051] In some implementations, the connection unit can be a control backplane board (CBB). The connection unit is connected to the processing unit, the execution unit, and the new function module 123 for signal transmission. The connection unit is used to receive control information sent by the new function module 123, so that the subsequent processing unit and the execution unit can perform corresponding operations on the control information, thereby enabling the robot to complete the corresponding new function through the cooperation between the new function module 123 and the basic control module.

[0052] In some implementations, the processing unit can be an integrated control board (ICB). The processing unit receives control information from the input unit and generates operating parameters based on this information. For example, the processing unit generates operating parameters corresponding to the robot's joint movements based on robot kinematics or dynamics or high-level robot commands. These control parameters are then sent to the execution unit.

[0053] In some implementations, the execution unit can be an integrated power board (IPB). The execution unit drives the inverter (the drive inverter for the robot's motors) to drive the robot's movement by driving the corresponding motors. The execution unit also controls the robot's braking circuitry, i.e., braking the robot by controlling its brakes. Furthermore, the execution unit performs a safety torque shut-off function based on control parameters issued by the processing unit.

[0054] In some implementations, the basic control module 121 also includes a Digital I / O Board (DIOB). The DIOB provides preset bytes (e.g., 16 bits) of data input and output. The DIOB uses an internal open architecture (Control Automation Technology, EtherCAT) to transmit execution signals to the robot.

[0055] In other embodiments, after receiving a processing request from the basic control module 121, the new function module 123 generates control information based on the processing request and sends the control information to the robot 110. This enables the robot 110 to perform corresponding tasks according to the control information. In other words, the robot 110 can communicate directly with the new function module 123, allowing the new function module 123 to directly control the operation of the robot 110.

[0056] Conversely, the basic control module 121 receives control information sent by the new function module 123. The basic control module 121 generates execution instructions based on the control information and controls the robot according to these instructions. For example, if the new function module 123 is a vision module, the vision module identifies the object's coordinates and transmits these coordinates to the basic control module 121 via a communication bus. The basic control module 121 then generates a movement instruction to move to the object's coordinates and controls the robot 110 to move to the object's coordinates according to this instruction. In other words, the robot 110 can communicate with the new function module 123 through the basic control module 121, enabling the new function module 123 and the basic control module 121 to cooperate and control the robot 110 to complete the corresponding operations.

[0057] Furthermore, in some implementations, please refer to Figure 3 , Figure 3 This is a schematic diagram of another controller provided in an embodiment of this application. For example... Figure 3 As shown, Figure 3The basic control module 121 includes a basic power supply, a basic unit, and a basic interface, wherein the basic power supply is connected to the basic unit and the basic interface, the basic interface is connected to the basic unit, and the basic unit is connected to the expansion interface 122.

[0058] The basic power supply provides power to the basic unit and basic interface, enabling them to function properly. The basic unit receives control information from the new functional module 123 via the expansion interface 122, generates execution instructions based on the control information, and transmits the execution instructions to the basic interface. The basic interface then outputs the execution instructions to the robot, enabling the robot to perform the corresponding operations.

[0059] In other words, the basic unit is used to implement the basic functions of the robot 110, namely, the high-performance control and human-machine interaction functions of the robot 110. In some embodiments, the basic unit includes at least one of the following: a motion control unit, a sequence control unit, a programming parsing unit, and a robot configuration unit.

[0060] The motion control unit is used to move the robot 110. For example, the motion control unit controls the robot 110 to move from position A to position B. The sequence control unit is used to enable the robot 110 to perform work in a certain sequence of steps. The programming parsing unit is used to parse the user's programming to make the robot 110 perform corresponding operations, in order to obtain lower-level instructions for inserting machine interfaces. The robot configuration unit is used to configure the parameters of the robot 110. For example, it configures certain control modes of the robot.

[0061] It is understood that this application does not limit the functions corresponding to the basic unit, and users can flexibly define the functions corresponding to the basic unit according to actual needs.

[0062] In some implementations, the basic interface can also be used to provide the interfaces required for basic applications of the robot 110, such as control, human-machine interaction, and digital I / O.

[0063] In some implementations, the basic unit includes a connection unit, a processing unit, and an execution unit. For a more detailed description of the connection unit, the processing unit, and the execution unit, please refer to the above description.

[0064] Robot 110 connects to the base unit via a basic interface to receive execution instructions from the base unit and then performs corresponding operations based on these instructions. The base unit, in turn, connects to the new functional module 123 via an expansion interface 122 to receive control information from the new functional module 123.

[0065] Furthermore, in some embodiments, the new functional module 123 includes a new functional unit and a new power supply, wherein the new power supply is connected to the new functional unit, and the new functional unit is connected to the basic unit through the expansion interface 122.

[0066] When the base unit detects a control command, it sends the processing request corresponding to the target new function of the control command to the new function unit through the extension interface 122 via the communication bus, so that the new function unit can generate control information according to the processing request and send the control information to the base unit through the extension interface 122.

[0067] Specifically, the new power supply is used to power the new functional units so that they can function properly. These new functional units are used to generate control information based on processing requests, and then send this control information to the basic control module.

[0068] Different newly added functional units are used to implement the extended functions corresponding to the controller 120. In some embodiments, the newly added functional units can be expansion modules of a graphics processing unit (GPU).

[0069] In some implementations, the newly added functional unit includes at least one of a vision processing extension unit, a communication extension unit, and a control processing extension unit. The vision processing extension unit is used to perform recognition processing and object localization on two-dimensional or three-dimensional images to provide extended functions such as target trajectories for robot 110 motion planning. The communication extension unit is used to provide more efficient data communication between the robot 110, the basic unit, and the newly added functional unit. The control processing extension unit is used to provide more advanced control.

[0070] In some implementations, the newly added functional units can be various functional expansion modules such as three-dimensional vision functional units, two-dimensional vision functional units, control and communication link (CC-Link) communication units, sixth-generation wireless network technology communication units, and robot control platforms based on artificial intelligence (AI).

[0071] Furthermore, in some embodiments, the added functional unit includes a memory, a processor, and an internal communication interface, wherein: the internal communication interface is connected to the basic control module via a communication bus, and the processor is connected to both the memory and the internal communication interface.

[0072] The internal communication interface receives processing requests from the basic control module and sends these requests to the processor. Correspondingly, the processor receives the processing request, generates control information based on it, and sends this control information to the internal communication interface. The internal communication interface then receives the control information and sends it back to the basic control module.

[0073] In some implementations, the memory can employ either volatile or non-volatile storage based on the user's specific needs (e.g., requirements for storage speed, storage capacity, or lifespan). For example, volatile storage could be Static Random Access Memory (SRAM) or Double Data Rate (DDR), etc. Similarly, non-volatile storage could be solid-state drives (SSDs), Embedded Multi Media Card (eMMC), or Non-volatile Flash Memory (NOR), etc.

[0074] In some implementations, the processor can be configured to meet the speed and parallelism requirements of the newly added functional units. For example, the processor can be a microcontroller unit (MCU), a field-programmable gate array (FPGA), or a graphics processing unit (GPU), etc.

[0075] Furthermore, in some embodiments, the newly added functional unit also includes a new interface connected to the processor. The new interface is used to connect to the acquisition device to receive raw data information sent by the acquisition device; the processor unit is used to generate control information based on the processing request and the raw data information.

[0076] The acquisition devices can be 3D industrial cameras, 2D industrial cameras, programmable logic controllers (PLCs) with Control & Communication Link (CC-Link) interfaces, and external wireless devices with wireless communication technology interfaces, etc.

[0077] In some implementations, the basic control module 121 has a built-in network switch, and the new function module 123 is connected to the network switch, thereby enabling the new function module 123 and the basic control module 121 to share resources, so as to further improve the flexibility of the controller 120.

[0078] For example, robot 110 can be connected to both basic control module 121 and new function module 123 simultaneously via a network switch to load web-based servers on basic control module 121 and new function module 123, thereby enabling flexible combination of the human-machine interface (HMI) on robot 110 and the human-machine interface (HMI) on new function module 123, thus further improving the flexibility of controller 120.

[0079] It is understandable that the communication between the basic control module 121 and the new function module 123 is not limited to a direct network connection or a network switch connection. In some implementations, the basic control module 121 and the new function module 123 can also be connected using the high-speed serial computer expansion bus standard (peripheral component interconnect express, PCIe).

[0080] In other embodiments, the basic control module 121 and the new function module 123 can also communicate serially or share memory, etc., to exchange data between the basic control module 121 and the new function module 123.

[0081] This application provides a controller and robot system. The controller includes a basic control module and at least one expansion interface. The basic control module is connected to the at least one expansion interface via a communication bus. The basic control module controls the robot's basic functions. The expansion interface is used to add new function modules. The new function modules control the robot's new functions. Therefore, the robot's basic functions can be implemented using a lower-configuration basic control module, reducing the controller's cost. Furthermore, users can add new function modules via the expansion interface according to actual needs. These new function modules cooperate with the basic control module to increase the controller's application performance requirements, thereby enabling the robot to perform new functions and improving the controller's configuration flexibility.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A controller, characterized in that, It includes a basic control module and at least one expansion interface, wherein: The basic control module is connected to the at least one expansion interface via a communication bus; The basic control module is used to control the robot's basic functions; The extended interface is used to add new functional modules; The newly added function module is used to control the new functions of the robot.

2. The controller according to claim 1, characterized in that, The basic control module is used to detect control commands, and if the function corresponding to the control command does not belong to the basic function, determine the target new function corresponding to the control command, and send a processing request to the new function module corresponding to the target new function through the communication bus. The newly added functional module is used to generate control information based on the processing request, and to control the robot based on the control information.

3. The controller according to claim 2, characterized in that, The newly added functional module controls the robot according to the control information, including: The newly added functional module is used to send the control information to the basic control module; The basic control module is used to generate execution instructions based on the control information, and to control the robot based on the execution instructions.

4. The controller according to claim 3, characterized in that, The basic control module includes a connection unit, a processing unit, and an execution unit, wherein: The connection unit is connected to any one of the at least one extended interface, the processing unit, and the execution unit, respectively; the processing unit is also connected to the execution unit. The connection unit is used to acquire the control information; The processing unit is used to generate control parameters based on the control information and send the control parameters to the execution unit; The execution unit is used to generate the execution instructions based on the control parameters.

5. The controller according to claim 2, characterized in that, The basic control module includes a basic power supply, basic units, and basic interfaces, wherein: The basic power supply is connected to the basic unit and the basic interface respectively, and the basic power supply is used to supply power to the basic unit and the basic interface; The basic unit is used to generate execution instructions based on the control information; The basic interface is connected to the basic unit, and the basic interface is used to output the execution instruction to the robot so that the robot performs the operation corresponding to the execution instruction.

6. The controller according to claim 5, characterized in that, The basic unit includes at least one of the following: motion control unit, sequence control unit, programming parsing unit, and robot configuration unit.

7. The controller according to any one of claims 1-6, characterized in that, The newly added functional modules include new functional units and new power supplies, wherein: The new power supply is connected to the new functional unit, and the new power supply is used to power the new functional unit. The newly added functional unit is used to generate the control information according to the processing request, so as to send the control information to the basic control module.

8. The controller according to claim 7, characterized in that, The newly added functional units include at least one of the following: a vision processing extension unit, a communication extension unit, and a control processing extension unit.

9. The controller according to claim 7, characterized in that, The newly added functional unit includes a memory, a processor, and an internal communication interface, wherein: The internal communication interface is connected to the basic control module via a communication bus, and the processor is connected to the memory and the internal communication interface respectively. The internal communication interface is used to receive the processing request from the basic control module; The processor is used to generate the control information according to the processing request; The internal communication interface is also used to send the control information to the basic control module.

10. The controller according to claim 9, characterized in that, The newly added functional unit also includes a new interface, which is connected to the processor and is used to connect to the acquisition device to receive raw data information sent by the acquisition device. The processor is used to generate the control information based on the processing request and the raw data information.

11. The controller according to any one of claims 1-6, characterized in that, The basic control module has a built-in network switch, and the newly added function module is connected to the network switch.

12. A robot system, characterized in that, include: The robot and the controller as claimed in any one of claims 1 to 11.

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