Robot Control Architecture With Split Processors for Real-Time Motion
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Solution Overview
Problem
Existing robot systems face challenges in efficiently handling advanced autonomous actions due to high arithmetic operation loads, particularly in processing image sensing and motion control functions, which require immediate implementation without time delays.
Innovation Solution
A multiprocessor configuration comprising an application processor, a sensor processor, and a motion controlling processor, each executing distinct operating systems to manage applications, image data processing, and motion control respectively, reducing the load on the application processor and ensuring timely execution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single processor is used to handle both application processing and motion control, then device complexity is reduced, but real-time performance and responsiveness deteriorate due to processing delays
Solution Approach 1:
The system divides the processor functions into three separate processors: an application processor for high-level decision making, a sensor processor for image data processing, and a motion controlling processor for real-time motor control. This segmentation allows each processor to specialize in its function, reducing overall processing delays while maintaining manageable complexity through clear functional separation.
2Adaptability or versatility
If advanced autonomous functions are added to the robot, then robot capability is improved, but arithmetic operation load increases causing processing delays
Solution Approach 1:
The system segments computational tasks across three processors based on their nature: complex autonomous decision-making algorithms run on the application processor, intensive image sensing and analysis run on the sensor processor, and time-critical motion control calculations run on the motion controlling processor. This distribution prevents any single processor from becoming a bottleneck, maintaining high processing speed despite advanced capabilities.
Solution Approach 2:
The sensor processor acts as an intermediary between the application processor and motion controlling processor, pre-processing image data and extracting relevant features before passing them to other processors. This intermediate processing step reduces the computational burden on both the application and motion control processors, maintaining overall system responsiveness.
Data Source
AI summary
A control system 4 includes an application processor that executes a first operating system to process an application, a sensor processor that executes a second operating system to process image data acquired by an image sensor, and a motion controlling processor that executes a third operating system to control motion of a movable part of a robot. The first operating system, the second operating system, and the third operating system are different from each other.