Title:
MULTI-THREAD CONTROLLER OF PARALLEL ROBOT
Document Type and Number:
WIPO Patent Application WO/2023/115758
Kind Code:
A1
Abstract:
A multi-thread controller of a parallel robot. Wherein, all tasks are centralized in four hierarchical threads - a main thread, a real-time thread, a preprocessing thread and a background thread. Tasks with different priorities are placed in threads having different levels, preferentially guaranteeing motion logic, secondly, carrying out motion planning, then carrying out communication and interface interactions, and finally, carrying out file reading and time consuming calculations, and the various operations are caused to be strictly performed in the respective thread. And, by means of providing a thread security queue for data interaction between the threads, and a thread clock calling and a mutual push task mechanism, the security of communication calling between threads and the flexibility of data interaction is realized.
Inventors:
ZHU PINGBU (CN)
LI YANHUA (CN)
WANG HUI (CN)
LI ZHIFENG (CN)
LIU SONGTAO (CN)
LI YANHUA (CN)
WANG HUI (CN)
LI ZHIFENG (CN)
LIU SONGTAO (CN)
Application Number:
PCT/CN2022/086273
Publication Date:
June 29, 2023
Filing Date:
April 12, 2022
Export Citation:
Assignee:
CHENXING TIANJIN AUTOMATION EQUIPMENT CO LTD (CN)
International Classes:
B25J13/00
Domestic Patent References:
| WO2012163245A1 | 2012-12-06 |
Foreign References:
| CN113954104A | 2022-01-21 | |||
| CN110569121A | 2019-12-13 | |||
| CN101853006A | 2010-10-06 | |||
| CN107942753A | 2018-04-20 | |||
| CN109454641A | 2019-03-12 | |||
| EP3677984A1 | 2020-07-08 |
Attorney, Agent or Firm:
BEIJING CIPRUN INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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