Methods, apparatus, and systems for monitoring and/or controlling dynamic environments

A machine vision system, comprising:

• a control system for monitoring and controlling a dynamic environment having a plurality of conditions in response to which a plurality of actions are required, the control system comprising:
• a master processor;
• and
• at least one co-processor communicatively coupled to the master processor,
• wherein the master processor configures the at least one co-processor to:
• evaluate only a first subset of the plurality of conditions;
• and
• provide first control information representing at least one first action of the plurality of actions if at least one condition of the first subset is satisfied, and wherein:
• A) the dynamic environment includes:
• A1) equipment to implement an automated process;
• A2) at least one control device to control the equipment in response to at least one control signal;
• and
• A3) at least one sensor to monitor the automated process and generate at least one input signal representing a monitored condition of the plurality of conditions;
• and
• B) the at least one co-processor:
• B1) receives the at least one input signal representing the monitored condition;
• B2) processes the at least one input signal so as to determine if the at least one condition of the first subset is satisfied;
• B3) provides the first control information so as to generate the at least one control signal for the at least one control device if the monitored condition matches the at least one condition of the first subset;
• and
• B4) transmits a notification signal to the master processor if the at least one condition of the first subset is satisfied,
• the machine vision system further comprising:
• the equipment to implement the automated process in A1);
• the at least one control device in A2) to control the equipment;
• and
• the at least one sensor to monitor the automated process,
• wherein:
• the equipment to implement the automated process comprises:
• robotics equipment;
• and
• lighting equipment to provide controlled ambient lighting for the automated process;
• the at least one control device includes a plurality of actuators coupled to the robotics equipment and/or the lighting equipment to control the robotics equipment and/or the lighting equipment;
• the at least one sensor comprises at least one image acquisition device to acquire at least one image of at least a portion of the automated process;
• and
• the control system is communicatively coupled to the at least one control device and the at least one sensor, to receive the at least one input signal generated by the at least one sensor and to control the plurality of actuators and/or the at least one image acquisition device based at least in part on the at least one control signal generated in B3).

A control system for monitoring and controlling a dynamic environment having a plurality of conditions in response to which a plurality of actions are required, the control system comprising:

• a master processor;
• and
• at least one co-processor communicatively coupled to the master processor,
• wherein the master processor configures the at least one co-processor to:
• evaluate only a first subset of the plurality of conditions;
• and
• provide first control information representing at least one first action of the plurality of actions if at least one condition of the first subset is satisfied,
• wherein the master processor determines the first subset of the plurality of conditions for evaluation by the at least one co-processor based on at least one of:
• a time period in which the first subset of the plurality of conditions is expected to occur in the dynamic environment;
• a particular sequence in which the plurality of conditions is expected to occur in the dynamic environment;
• at least one previous action taken in the dynamic environment;
• a present state of the dynamic environment;
• a response time of the master processor;
• and
• at least one attribute of the at least one co-processor, and
• wherein:
• the at least one co-processor is configured to receive and process at least one input signal representing at least one monitored condition of the plurality of conditions;
• the at least one co-processor is configured to output at least one output signal corresponding to the first control information representing the at least one first action of the plurality of actions;
• and
• the at least one attribute of the at least one co-processor comprises at least one of:
• a functioning status of the at least one co-processor;
• a first number of the at least one input signal processed by the at least one co-processor;
• a first type of the at least one input signal processed by the at least one co-processor;
• a second number of the at least one output signal processed by the at least one co-processor;
• and
• a second type of the at least one output signal processed by the at least one co-processor.

A control system for monitoring and controlling a dynamic environment having a plurality of conditions in response to which a plurality of actions are required, the control system comprising:

• a master processor;
• and
• at least one co-processor communicatively coupled to the master processor,
• wherein the master processor configures the at least one co-processor to:
• evaluate only a first subset of the plurality of conditions;
• and
• provide first control information representing at least one first action of the plurality of actions if at least one condition of the first subset is satisfied,
• wherein the master processor determines the first subset of the plurality of conditions for evaluation by the at least one co-processor based on at least one compiled executable instruction representing at least one source code wait statement, wherein the at least one source code wait statement specifies the at least one condition of the first subset of the plurality of conditions and the at least one first action of the plurality of actions.

A control system for monitoring and controlling a dynamic environment having a plurality of conditions in response to which a plurality of actions are required, the control system comprising:

• a master processor;
• and
• at least one co-processor communicatively coupled to the master processor,
• wherein the master processor configures the at least one co-processor to:
• evaluate only a first subset of the plurality of conditions;
• and
• provide first control information representing at least one first action of the plurality of actions if at least one condition of the first subset is satisfied,
• wherein:
• the at least one co-processor is configured to evaluate a fixed maximum number of conditions;
• the maximum number of conditions is based at least in part on a maximum permissible latency defined by a required response time in the dynamic environment for providing the first control information if the at least one condition of the first subset is satisfied;
• and
• the first subset of the plurality of conditions configured by the master processor for evaluation by the at least one co-processor includes less than or equal to the maximum number of conditions.

A control system for monitoring and controlling a dynamic environment having a plurality of conditions in response to which a plurality of actions are required, the control system comprising:

• a master processor;
• and
• at least one co-processor communicatively coupled to the master processor,
• wherein the master processor configures the at least one co-processor to:
• evaluate only a first subset of the plurality of conditions;
• and
• provide first control information representing at least one first action of the plurality of actions if at least one condition of the first subset is satisfied,
• wherein the at least one co-processor includes at least a first co-processor and a second co-processor, and wherein:
• the master processor configures the first co-processor to evaluate only the first subset of the plurality of conditions and to provide the first control information representing the at least one first action of the plurality of actions if the at least one condition of the first subset is satisfied;
• and
• the master processor configures the second co-processor to evaluate only a second subset of the plurality of conditions and to provide second control information representing at least one second action of the plurality of actions if at least one condition of the second subset is satisfied.

A control system for monitoring and controlling a dynamic environment having a plurality of conditions in response to which a plurality of actions are required, the control system comprising:

• a master processor;
• and
• at least one co-processor communicatively coupled to the master processor,
• wherein the master processor configures the at least one co-processor to:
• evaluate only a first subset of the plurality of conditions;
• and
• provide first control information representing at least one first action of the plurality of actions if at least one condition of the first subset is satisfied,
• wherein:
• at a first time, the master processor configures the at least one co-processor to evaluate only the first subset of the plurality of conditions and to provide the first control information representing the at least one first action of the plurality of actions if the at least one condition of the first subset is satisfied;
• and
• at a second time, the master processor reconfigures the at least one co-processor to evaluate only a second subset of the plurality of conditions and to provide second control information representing at least one second action of the plurality of actions if at least one condition of the second subset is satisfied.

A control system for monitoring and controlling a dynamic environment having a plurality of conditions in response to which a plurality of actions are required, the control system comprising:

• a master processor;
• and
• at least one co-processor communicatively coupled to the master processor,
• wherein the master processor configures the at least one co-processor to:
• evaluate only a first subset of the plurality of conditions;
• and
• provide first control information representing at least one first action of the plurality of actions if at least one condition of the first subset is satisfied,
• wherein a monitored condition of the plurality of conditions is represented by at least one input signal, and wherein the at least one co-processor comprises:
• at least one input interface to receive the at least one input signal representing the monitored condition and/or first configuration information from the master processor relating to evaluation of the first subset of conditions;
• a dedicated memory to store at least the first configuration information received from the master processor;
• at least one output interface to provide the first control information representing the at least one first action of the plurality of actions;
• and
• at least one controller, communicatively coupled to the at least one input interface, the dedicated memory, and the at least one output interface, wherein the at least one controller is configured to:
• process the at least one input signal based at least in part on the first configuration information received from the master processor so as to determine if the at least one condition of the first subset is satisfied;
• and
• control the at least one output interface so as to provide the first control information if the at least one condition of the first subset is satisfied,
• wherein:
• the first configuration information received from the master controller by the at least one co-processor includes at least one condition/action pair representing the first subset of conditions for evaluation by the at least one co-processor;
• the at least one input interface of the at least one co-processor is configured to receive the at least one condition/action pair;
• the dedicated memory of the at least one co-processor stores the at least one condition/action pair when received by the at least one input interface;
• and
• the at least one controller of the at least one co-processor includes digital logic circuitry to evaluate the at least one condition/action pair based at least in part on the at least one input signal representing the monitored condition.

In a system comprising a master processor and at least one co-processor communicatively coupled to the master processor, a method for monitoring and controlling a dynamic environment having a plurality of conditions in response to which a plurality of actions are required, the method comprising:

• A) determining, via the master processor, a first subset of the plurality of conditions expected to occur in the dynamic environment within a specified time period that is less than a response time of the master processor;
• and
• B) evaluating, via the at least one co-processor, the first subset of the plurality of conditions determined in A) so as to provide first control information representing at least one first action of the plurality of actions if at least one condition of the first subset is satisfied,
• wherein A) comprises determining the first subset of the plurality of conditions based on at least one of:
• a particular sequence in which the plurality of conditions is expected to occur in the dynamic environment;
• at least one previous action taken in the dynamic environment;
• a present state of the dynamic environment;
• and
• at least one attribute of the at least one co-processor, and
• wherein:
• the at least one co-processor is configured to receive and process at least one input signal representing at least one monitored condition of the plurality of conditions;
• the at least one co-processor is configured to output at least one output signal corresponding to the first control information representing the at least one first action of the plurality of actions;
• and
• the at least one attribute of the at least one co-processor comprises at least one of:
• a functioning status of the at least one co-processor;
• a first number of the at least one input signal processed by the at least one co-processor;
• a first type of the at least one input signal processed by the at least one co-processor;
• a second number of the at least one output signal processed by the at least one co-processor;
• and
• a second type of the at least one output signal processed by the at least one co-processor.

In a system comprising a master processor and at least one co-processor communicatively coupled to the master processor, a method for monitoring and controlling a dynamic environment having a plurality of conditions in response to which a plurality of actions are required, the method comprising:

• A) determining, via the master processor, a first subset of the plurality of conditions expected to occur in the dynamic environment within a specified time period that is less than a response time of the master processor;
• and
• B) evaluating, via the at least one co-processor, the first subset of the plurality of conditions determined in A) so as to provide first control information representing at least one first action of the plurality of actions if at least one condition of the first subset is satisfied,
• wherein A) comprises determining the first subset of the plurality of conditions based on execution by the master processor of at least one compiled executable instruction representing at least one source code wait statement, wherein the at least one source code wait statement specifies the at least one condition of the first subset of the plurality of conditions and the at least one first action of the plurality of actions.

In a system comprising a master processor and at least one co-processor communicatively coupled to the master processor, a method for monitoring and controlling a dynamic environment having a plurality of conditions in response to which a plurality of actions are required, the method comprising:

• A) determining, via the master processor, a first subset of the plurality of conditions expected to occur in the dynamic environment within a specified time period that is less than a response time of the master processor;
• and
• B) evaluating, via the at least one co-processor, the first subset of the plurality of conditions determined in A) so as to provide first control information representing at least one first action of the plurality of actions if at least one condition of the first subset is satisfied,
• wherein A) further comprises:
• determining a fixed maximum number of conditions for evaluation by the at least one co-processor based on the response time of the master processor,
• wherein the first subset of the plurality of conditions includes less than or equal to the maximum number of conditions.

In a system comprising a master processor and at least one co-processor communicatively coupled to the master processor, a method for monitoring and controlling a dynamic environment having a plurality of conditions in response to which a plurality of actions are required, the method comprising:

• A) determining, via the master processor, a first subset of the plurality of conditions expected to occur in the dynamic environment within a specified time period that is less than a response time of the master processor;
• and
• B) evaluating, via the at least one co-processor, the first subset of the plurality of conditions determined in A) so as to provide first control information representing at least one first action of the plurality of actions if at least one condition of the first subset is satisfied,
• wherein the at least one co-processor includes at least a first co-processor and a second co-processor, and wherein:
• B) comprises evaluating, via the first co-processor, the first subset of the plurality of conditions determined in A) so as to provide the first control information representing the at least one first action of the plurality of actions if at least one condition of the first subset is satisfied,
• and wherein the method further comprises:
• C) determining, via the master processor, a second subset of the plurality of conditions expected to occur in the dynamic environment within the specified time period;
• and
• D) evaluating, via the second co-processor, the second subset of the plurality of conditions determined in C) so as to provide second control information representing at least one second action of the plurality of actions if at least one condition of the second subset is satisfied.

In a system comprising a master processor and at least one co-processor communicatively coupled to the master processor, a method for monitoring and controlling a dynamic environment having a plurality of conditions in response to which a plurality of actions are required, the method comprising:

• A) determining, via the master processor, a first subset of the plurality of conditions expected to occur in the dynamic environment within a specified time period that is less than a response time of the master processor;
• and
• B) evaluating, via the at least one co-processor, the first subset of the plurality of conditions determined in A) so as to provide first control information representing at least one first action of the plurality of actions if at least one condition of the first subset is satisfied,
• further comprising, at a time after execution of B):
• C) determining, via the master processor, a second subset of the plurality of conditions expected to occur in the dynamic environment within the specified time period;
• and
• D) evaluating, via the at least one co-processor, the second subset of the plurality of conditions determined in C) so as to provide second control information representing at least one second action of the plurality of actions if at least one condition of the second subset is satisfied.

A machine vision system, comprising:

• a control system for monitoring and controlling a dynamic environment having a plurality of conditions in response to which a plurality of actions are required, the dynamic environment comprising equipment to implement an automated process, at least one control device to control the equipment in response to at least one control signal, and at least one sensor to monitor the automated process and generate at least one input signal representing a monitored condition of the plurality of conditions, the control system comprising:
• a master processor;
• and
• at least one co-processor communicatively coupled to the master processor,
• wherein:
• the master processor configures the at least one co-processor to:
• evaluate only a first subset of the plurality of conditions expected to occur in the dynamic environment within a specified time period that is less than a response time of the master processor;
• and
• provide first control information representing at least one first action of the plurality of actions if at least one condition of the first subset is satisfied;
• and
• the at least one co-processor:
• receives the at least one input signal representing the monitored condition;
• processes the at least one input signal so as to determine if the at least one condition of the first subset is satisfied;
• and
• provides the first control information so as to generate the at least one control signal for the at least one control device if the monitored condition matches the at least one condition of the first subset,
• the machine vision system further comprising:
• the equipment to implement the automated process;
• the at least one control device to control the equipment;
• and
• the at least one sensor to monitor the automated process,
• wherein:
• the equipment to implement the automated process comprises:
• robotics equipment;
• and
• lighting equipment to provide controlled ambient lighting for the automated process;
• the at least one control device includes a plurality of actuators coupled to the robotics equipment and/or the lighting equipment to control the robotics equipment and/or the lighting equipment;
• the at least one sensor comprises at least one image acquisition device to acquire at least one image of at least a portion of the automated process;
• and
• the control system is communicatively coupled to the at least one control device and the at least one sensor, to receive the at least one input signal generated by the at least one sensor and to control the plurality of actuators and/or the at least one image acquisition device based at least in part on the at least one control signal for the at least one control device.