GB/T 47245-2026General framework for intelligent robot control systems (English PDF)

3.1 Terms and definitions

For the purpose of this document, the following terms and definitions apply.

3.1.1 intelligent control system of robot

A software and hardware system with integrated perception, decision-making, planning, and control functions, which supports robots to perform autonomous perception, intelligent decision-making, and flexible task execution.

NOTE. It consists of hardware layer, operating system layer, middleware layer, and algorithm layer.

3.1.2 intelligent sensing and control unit

An electronic device or system with functions of distributed environment perception, data analysis, and control execution, capable of multi-modal perception and decision-making based on real-time information, so as to realize intelligent response and control adjustment.

NOTE. The intelligent sensing and control unit consists of integrated data computing module and intelligent sensing and control adaptation module.

3.1.3 motion control unit

An electronic device or system used to control parameters such as position, velocity, and acceleration of mechanical moving components.

3.2 Abbreviations

For the purpose of this document, the following abbreviations apply.

AI. Artificial Intelligence

App. App Location

CAN. Controller Area Network

DSA. Domain Specific Architecture

GPU. Graphics Processing Unit

NPU. Neural Processing Unit

POSIX. Portable Operating System Interface

USB. Universal Serial Bus

VPU. Video Processing Unit

4.1 Framework composition

The general framework for the intelligent control system of robot consists of the hardware layer, operating system layer, middleware layer, and algorithm layer. The hardware layer comprises the intelligent sensing and control unit and the motion control unit. The operating system layer comprises the operating system of the intelligent sensing and control unit and the operating system of the motion control unit. The middleware layer comprises the message communication module, data distribution service component, middleware device management module, and device abstraction and encapsulation module. The algorithm layer comprises the basic function algorithm library and the autonomous optimization algorithm module. Its framework is shown in

Figure 1.

management module communicates with the algorithm layer through unified data interfaces for similar sensors. The algorithm layer communicates with application Apps through algorithm component interfaces. External devices include perception-type sensors, execution-type equipment, communication and control equipment, etc., and application Apps include robot autonomous control Apps, industrial automation scheduling Apps, etc.

5.1 General rules

The hardware layer shall have basic functions such as intelligence, computing, networking, storage, and control. Its framework is shown in Figure 2.

Figure 2 -- Diagram of framework for hardware layer

5.2 Intelligent sensing and control unit

5.2.1 Data computing sub-unit

The data computing sub-unit shall include the general-purpose computing module, AI computing module, customized acceleration computing module, hardware secure boot module, and chip trust root module. The specific requirements are as follows.

a) General-purpose computing module. It should adopt general-purpose computing frameworks such as X86 and ARM64.It shall have functions of system management, data distribution, conventional trajectory planning, kinematic calculation, dynamic calculation, interconnection with AI computing module, interconnection with customized acceleration computing module, interconnection with hardware secure boot module, and interconnection with intelligent sensing and control adaptation sub-unit.

b) AI computing module. It should adopt AI acceleration computing frameworks such as GPU and NPU. It shall have functions of AI multimodal perception analysis, AI decision-making and planning, and interconnection with the general- purpose computing module.

c) Customized acceleration computing module. It should adopt dedicated acceleration computing frameworks such as VPU and DSA. It shall have local acceleration computing functions, including visual processing, trajectory calculation, kinematics, and dynamics, and shall support interconnection with the general-purpose computing module.

d) Hardware secure boot module. It shall verify the integrity of each component during the boot process through public-private key digital signatures, so as to ensure the normal loading and running of authorized software and prevent the execution of unauthorized software. It shall support interconnection with the general-purpose computing module and interconnection with the chip trust root module.

e) Chip trust root module. It shall serve as the sole immutable trust source within the chip. It shall have functions of security measurement, data key protection, and remote attestation, and shall support interconnection with the hardware secure boot module.

5.2.2 Intelligent sensing and control adaptation sub-unit

The intelligent sensing and control adaptation sub-unit shall include the motion control interconnection module, data computing expansion module, data storage module, network communication module, and sensor access module. The specific requirements are as follows.

a) Motion control interconnection module. When interconnecting with the motion control unit inside the control system, it shall have functions of issuing motion control data, parsing motion management data, and interconnection with the data computing sub-unit. When interconnecting with the motion control unit outside the control system, it shall interconnect with different control systems through the motion control bus interface. In addition to the aforementioned functions of the motion control interconnection module, it shall also have bus communication functions.

b) Data computing expansion module. It shall interconnect with control systems on different central clouds, edge clouds, and other intelligent devices through the network communication module. It shall have functions of multi-control system function collaboration, multi-control system data collaboration, development and optimization system collaboration, scheduling system collaboration, interconnection with the network communication module, and interconnection with the data computing sub-unit.

c) Data storage module. It shall have functions of data backup, data compression, data encryption, and interconnection with the data computing sub-unit.

d) Network communication module. It shall connect to different networks, such as

Ethernet and WiFi, through network communication interfaces. It shall have functions of network communication, network data parsing, interconnection with the data computing expansion module, and interconnection with the data computing sub-unit.

e) Sensor access module. It shall connect to different sensors through sensor interfaces. It shall have functions of radar/vision data parsing and preprocessing, logical device combination instantiation, and interconnection with the data computing sub-unit.

5.3 Motion control unit

5.3.1 Motion control adaptation sub-unit

The motion control adaptation sub-unit shall include the intelligent sensing and control interconnection module, the sensor access module, and the actuator access module. It should include the motion control expansion module. The specific requirements are as follows.

a) Intelligent sensing and control interconnection module. It shall connect to different networks, such as Ethernet, USB, and CAN, through expansion interfaces. It shall have functions of extended interconnection with the intelligent sensing and control unit. When the intelligent sensing and control unit and the motion control unit are deployed jointly, it shall realize reliable communication connection between them.

b) Sensor access module. It shall have sensor interfaces to connect to various motion control sensors, and shall have the function of real-time perception input. Typical communication interfaces such as Ethernet, USB, and CAN should be adopted for sensor interfaces.

c) Actuator access module. It shall have actuator interfaces to connect to various actuators, and shall have execution control functions. Typical communication interfaces such as Ethernet and CAN should be adopted for actuator interfaces.

d) Motion control expansion module. It should have expansion interfaces to connect to other motion control units, and should have horizontal expansion networking functions. Typical communication interfaces such as Ethernet and CAN should be adopted for expansion interfaces.

5.3.2 Control computing sub-unit

It shall have motion control main control computing functions, such as motion control computing, high-precision timing management, and real-time motion control signal processing. It should adopt embedded hardware components such as processor, memory, power supply, and clock. […]