Robot Controller Queue Synchronization for Coordinated Operations
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Solution Overview
Problem
Conventional robot controllers have insufficient synchronization accuracy between controlled groups, making it difficult for them to perform coordinated operations effectively.
Innovation Solution
A robot controller with queues and a storage unit that stores instructions for each controlled group, including a 'no-operation' instruction for groups without specific instructions, allowing the execution control unit to synchronize operations by fetching instructions from the top of the queues and ensuring all groups start and stop operations simultaneously based on shared task numbers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If conventional robot controllers use first-in first-out buffers for each robot to enable parallel operations, then robots can operate in parallel, but synchronization accuracy between controlled groups becomes insufficient
Solution Approach 1:
The patent segments the control system into multiple queues (one per controlled group) rather than using a single shared buffer. Each queue independently manages instructions for its controlled group, enabling parallel processing while maintaining precise synchronization through unified management. This segmentation resolves the contradiction by allowing parallel operations without sacrificing synchronization accuracy.
Solution Approach 2:
The patent introduces a new dimension of control by adding queue management layer between the instruction source and execution units. Instead of simple sequential buffering, the system now operates in multiple dimensions: individual queue management for each controlled group plus unified synchronization control. This dimensional enhancement enables both parallel operation and high synchronization accuracy simultaneously.
2Device complexity
If the robot controller treats each robot and peripheral device as one controlled unit, then control structure is simplified, but coordination and synchronization between controlled groups deteriorates
Solution Approach 1:
The patent creates a universal queue management structure that serves multiple controlled groups simultaneously. The same queue management mechanism is applied to all controlled groups, providing a unified approach that simplifies the control structure while maintaining the ability to coordinate complex multi-group operations. This universal structure resolves the contradiction between simplicity and coordination accuracy.
Solution Approach 2:
The patent introduces queues as intermediary structures between the control unit and multiple controlled groups. These queues act as mediators that buffer and synchronize instructions, allowing the simplified control structure to effectively coordinate complex operations across multiple controlled groups. The intermediary queues resolve the timing and synchronization issues that would otherwise require complex direct control logic.
3Ease of manufacture
If instructions are stored sequentially in buffers for each robot, then storage management is simple, but operation synchronization between controlled groups becomes insufficient
Solution Approach 1:
The patent segments the storage structure into multiple dedicated queues, one for each controlled group, rather than using a single shared buffer. This segmentation maintains storage management simplicity through clear separation of concerns while enabling precise synchronization by allowing coordinated access patterns across all queues. Each queue's independent structure simplifies management while the unified control mechanism achieves precise operation synchronization.
Data Source
AI summary
A robot controller includes queues, a storage unit, and an execution control unit. The queues are provided for respective controlled groups serving as controlled units. The storage unit stores therein instructions directed to the respective controlled groups, one at a time, from a bottom end of each of the queues. When having accepted a predetermined operation request, the execution control unit simultaneously fetches the instructions directed to the controlled groups, one for each of the controlled groups at a time, from tops of the queues, and makes all of the controlled groups simultaneously start the operations based on such instructions. If there is any controlled group to which no corresponding instruction exists, the storage unit stores therein a no-operation instruction. If the fetched instruction is the no-operation instruction, the execution control unit keeps the controlled group from operating until an instruction is fetched next time.