Robot Vision Control with Direct Posture Data Transfer
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Solution Overview
Problem
Current robot systems face challenges in implementing advanced autonomous actions due to high arithmetic operation demands, requiring efficient mechanisms for image sensing and motion control, especially when performing complex tasks like following a user or predicting obstacle trajectories.
Innovation Solution
A robot control system comprising an application processor, a sensor processor for image analysis, and a motion controlling processor that directly communicates posture information, reducing the processing load on the application processor and enabling immediate image sensing and motion control functions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the application processor handles both image analysis and motion control, then device complexity is reduced, but processing time increases and real-time responsiveness deteriorates
Solution Approach 1:
The system divides the robot control system into three independent processors: an application processor for high-level decision making, a sensor processor for image analysis, and a motion controlling processor for real-time motor control. This segmentation allows each processor to specialize in specific tasks, reducing overall processing time while maintaining functional completeness.
Solution Approach 2:
The sensor processor acts as an intermediary between the application processor and the motion controlling processor. It receives image data from the image sensor, performs preliminary analysis, and provides processed information to both the application processor for decision-making and the motion controlling processor for immediate action, eliminating the need for the application processor to handle all processing tasks.
2Device complexity
If the application processor performs all processing tasks, then device complexity is minimized, but real-time responsiveness and immediacy deteriorate
Solution Approach 1:
The control system is segmented into three specialized processors that operate in parallel. The motion controlling processor handles real-time motor control independently from the application processor, enabling immediate response to sensor inputs without waiting for application-level processing decisions.
Solution Approach 2:
The sensor processor performs preliminary image analysis and data processing before results are needed by the application processor or motion controlling processor. This preliminary action reduces the processing burden on other components and enables faster overall system response time.
3Speed
If multiple processors are used for specialized functions, then processing speed and real-time responsiveness improve, but device complexity increases
Solution Approach 1:
Each processor in the system is designed with multi-functionality to reduce overall complexity. The sensor processor can handle both image analysis for the application processor and provide data to the motion controlling processor. The motion controlling processor manages both real-time motor control and receives input from multiple sources, reducing the need for additional dedicated components.
Data Source
AI summary
An application processor processes an application. A sensor processor acquires image data from an image sensor and analyzes the image data. A motion controlling processor controls motion of a movable part of a robot. The motion controlling processor provides posture information for specifying an orientation of the image sensor to the sensor processor, not via the application processor. The posture information includes information for specifying a position of the image sensor.