The invention discloses a body intelligent
controller architecture based on an end side intelligent model and an operation method, and belongs to the technical field of industrial body intelligence. According to the architecture, a CPU, a GPU and an FPGA are integrated by adopting a heterogeneous multi-core processor, and high-speed
interconnection is realized through a star-type + NoC
hybrid topology; a multi-level task scheduling mechanism is constructed based on a real-time
operating system, and it is ensured that control tasks are executed preferentially. End-side visual model lightweight (YOLOv5s
model parameters are reduced to 3.5 M) and FPGA
hardware acceleration (control instruction time
delay is 10ns) are innovatively realized on an
algorithm framework layer, and a transmission
bottleneck is eliminated through a zero-copy
data path. The
system supports model hot switching less than or equal to 10ms and FPGA bit
stream online updating less than or equal to 50ms, and has MD5 check and an automatic
rollback mechanism. Compared with a traditional separation
type scheme, the
processing time
delay is reduced by 25 times, the hardware cost is reduced, the size is reduced, and the real-time performance, reliability and deployment flexibility of the
industrial robot and other intelligent agents with the body are remarkably improved.