Robot Control Data Processing via Virtual Bus Segmentation
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Solution Overview
Problem
The existing Robot Operating System (ROS) faces issues of low security, high overhead, and communication delay, necessitating a data processing technology that generates low overhead while maintaining high security for robot control applications.
Innovation Solution
A data processing device and method for robot control that includes a processor and memory, where the processor receives detection results from a sensor driver, executes a single robot control program with multiple modules, processes data transmission between modules using a virtual data bus, and generates a response signal upon data changes, thereby enhancing security and reducing overhead.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If ROS is used for robot control, then hardware abstraction and device control are provided, but security is low and overhead is high
Solution Approach 1:
The system segments robot control into a master controller running a simplified real-time OS and slave controllers running ROS. This segmentation allows the master controller to handle security-critical functions with low overhead while ROS handles complex robot-specific functions, resolving the contradiction between security and overhead.
Solution Approach 2:
A message queue mechanism acts as an intermediary between the master controller and slave controllers. This intermediary enables secure, standardized communication with controlled data flow, reducing overhead while maintaining security through structured interaction protocols.
2Reliability
If ROS is used for robot control, then hardware abstraction is provided, but communication delay increases
Solution Approach 1:
By segmenting control functions and placing time-critical operations on the master controller with direct hardware access, the system reduces communication delay while maintaining reliable data exchange through the standardized message queue interface.
Solution Approach 2:
The master controller pre-processes and validates data before passing it to slave controllers, and slave controllers pre-buffer data for transmission. This preliminary action reduces waiting time and communication delay while ensuring reliable data exchange.
Data Source
AI summary
A data processing device and method for robot control are disclosed. In the data processing device for robot control, a data processing device according to one embodiment comprises: a memory which stores data; and a processor which executes an instruction stored in the memory, wherein the processor: receives detection results from a sensor driver; controls a robot according to the detection results by executing a robot control program including a plurality of modules; processes data transmission between the plurality of modules; and generates a response signal in response to a change in the data stored in the memory due to the processing of the data.