Distributed Robot Controller Coordination via Shared Environment Data
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Solution Overview
Problem
Existing control systems face complexity in adapting to the addition or change of devices, requiring cumbersome program modifications in the host controller, which increases information processing load and reduces flexibility.
Innovation Solution
A control system comprising multiple controllers that include a condition monitor and an operation execution unit, allowing each device to autonomously coordinate with others and update environment information, thereby simplifying the addition or change of devices without complex program modifications in the host controller.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the host controller centrally manages and determines operations for all devices, then centralized control and coordination are achieved, but the system complexity and program modification burden increase when devices are added or changed
Solution Approach 1:
The patent divides the control system into multiple independent controllers (first controller, second controller, third controller, etc.), each managing specific devices. This segmentation allows each controller to operate autonomously while maintaining system-wide coordination through shared environment information, thereby reducing the complexity burden on any single controller when devices are added or modified.
Solution Approach 2:
The patent introduces an environment manager as an intermediary component that stores and manages environment information shared among all controllers. This mediator enables autonomous controllers to coordinate their operations by accessing common environment data without requiring complex inter-controller communication programs, thus reducing program modification burden while maintaining centralized coordination.
2Reliability
If the host controller autonomously determines operations for all devices based on environmental information, then centralized decision-making is achieved, but the information processing load on the host controller increases
Solution Approach 1:
The patent segments the information processing load by distributing decision-making authority to multiple independent controllers. Each controller autonomously determines operations for its managed devices based on environment information from the environment manager, eliminating the need for one controller to process all decision-making information centrally and thereby reducing overall information processing load.
Solution Approach 2:
Each controller in the patent is designed to autonomously determine its own operations and the operations of other devices based on environment information, without requiring centralized command from a host controller. This self-service approach allows controllers to independently process only the information relevant to their specific devices, significantly reducing the information processing burden compared to centralized host controller management.
3Adaptability or versatility
If each controller autonomously determines operations based on environment information, then adaptability to device addition and change is improved, but coordination complexity among controllers increases
Solution Approach 1:
The environment manager serves as a mediator that stores and manages environment information accessible by all controllers. This intermediary mechanism enables autonomous controllers to coordinate their operations through shared environment data without requiring complex inter-controller communication protocols or centralized coordination programs, thus maintaining adaptability while reducing coordination complexity.
Solution Approach 2:
The environment manager provides a universal interface for all controllers to access and share environment information. This multi-functional component handles information storage, retrieval, and coordination for all device types and controllers uniformly, enabling easy adaptation to device additions while maintaining simple coordination through a standardized information sharing mechanism.
Data Source
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AI summary
The control system 100 includes: a plurality of controllers 400 that respectively control a plurality of devices 2 including at least robots 2B and 2C; and an environment manager 110 that is communicable with the plurality of controllers 400. The environment manager 110 includes an environment information storage 311 that stores environment information, and an information update unit 312 that updates environment information according to an operation of the plurality of devices 2. Each of the plurality of controllers 400 includes a condition monitor 422 that monitors whether environment information stored in the environment device storage 311 satisfies a predetermined condition and an operation execution unit 423 that controls a corresponding device of the plurality of devices to execute a predetermined operation in a case where the environment information satisfies a predetermined condition.