US 12,434,385 B2
Multi-thread controller for parallel robot
Pingbu Zhu, Tianjin (CN); Yanhua Li, Tianjin (CN); Hui Wang, Tianjin (CN); Zhifeng Li, Tianjin (CN); and Songtao Liu, Tianjin (CN)
Assigned to Chenxing (Tianjin) Automation Equipment Co., Ltd., Tianjin (CN)
Appl. No. 18/012,961
Filed by Chenxing (Tianjin) Automation Equipment Co., Ltd., Tianjin (CN)
PCT Filed Apr. 12, 2022, PCT No. PCT/CN2022/086273
§ 371(c)(1), (2) Date Dec. 26, 2022,
PCT Pub. No. WO2023/115758, PCT Pub. Date Jun. 29, 2023.
Claims priority of application No. 202111584313.2 (CN), filed on Dec. 23, 2021.
Prior Publication US 2024/0100697 A1, Mar. 28, 2024
Int. Cl. G06F 3/00 (2006.01); B25J 9/16 (2006.01)
CPC B25J 9/1664 (2013.01) [G05B 2219/34333 (2013.01); G05B 2219/39001 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A multi-thread controller for a parallel robot, comprising a main thread, a real-time thread, a preprocessing thread and a background thread, wherein the main thread, the real-time thread, the preprocessing thread and the background thread are scheduled by each other, which are configured to ensure the normal calling and execution of the threads by creating a thread task and storing data to a buffer list to be called by other threads and by the way of a thread security queue;
the main thread is configured to perform initialization and thread calling to realize the control of motion logic of the parallel robot, wherein the initialization comprises initializing hardware communication, initializing a log management tool, initializing an alarm management tool, initializing a user-defined TCP communication protocol, initializing a clock and initializing a robot parameter; the thread calling comprises receiving a variable modification instruction, receiving an execution instruction, performing an asynchronous operation and controlling communication;
the real-time thread is configured to perform communication and interface interaction with hardware equipment, comprising acquiring a robot hardware parameter, calculating a robot moving platform real-time position, sending a control signal to hardware and triggering I/O equipment in real time;
the preprocessing thread is configured to perform motion planning, comprising variable instruction parsing, robot motion planning and latest instruction planning; and
the background thread is configured to perform file reading and writing and time consumption calculation.