Robotic hybrid system application framework based on multi-core processor architecture

A robot hybrid system based on a multi-core processor architecture, comprising:

• a robot operating system (12) comprising a non-real-time operating system (13) supporting a robotic operating system that provides basic robotic applications, corresponding services, and system resources;
• a real-time operating system (17) that provides services and system resources for robotic real-time tasks;
• and
• a hybrid operating system support framework (19) that supports operation and coordination of the robot operating system and the real-time operating system and simultaneously operates the non-real-time operating system (13) and the real-time operating system (17) on a multi-core processor platform,
• wherein the hybrid operating system support framework includes a non-real-time partial framework (191) and a real-time partial framework (192), the non-real-time operating system (13) being an embedded system running over the non-real-time partial framework (191), wherein:
• the real-time operating system (17) runs over the real-time partial framework (192);
• the non-real-time operating system (13) runs a plurality of real-time nodes of the robot operating system according to different robot control application requirements, wherein the plurality of real-time nodes of the robot operating system include position closed-loop control unit (2408), current control unit (2410), interpolation solving unit (2409), position control unit (2411), and the non-real-time operating system (13) further runs a plurality of non-real-time nodes of the robot operating system according to functions including speech processing unit (2401), image processing unit (2403), speech recognition unit (2402), three-dimensional modeling unit (2404), object recognition unit (2405), mapping navigation unit (2406);
• and
• motion control of a robot in the real-time operating system (17) is functionally differentiated by a plurality of threads, wherein:
• a main thread (31) is a real-time robot operating system node thread that establishes a real-time node conforming to a communication protocol of the robot operating system, initializes a robot motor, communicates between the plurality of real time nodes of the robot operating system running on the non-real-time operating system (13) and the real-time operating system (17), communicates between the plurality of real-time nodes and the plurality of non-real-time nodes, and distributes messages to a plurality of other threads;
• a CAN bus sending/receiving thread (34) that transmits and reads data on a CAN bus (23), wherein the data is obtained from a CAN bus device descriptor and the CAN bus sending/receiving thread (34) publishes relevant data to the plurality of other threads (36) in real time;
• a motion control thread (32) that sets an initial position posture of the robot and simultaneously realizes fine interpolation for movement of a plurality of motion units of the robot;
• after sending a motion control instruction to a discrete motion unit of the plurality of motion units, a closed-loop control thread (33) reads a current state of each movement joint of a plurality of movement joints of the robot;
• if the movement joint of the plurality of movement joints does not reach a position required by the motion control instruction, the closed-loop control thread (33) retransmits a modified motion control instruction to the movement joint, and the position and attitude of the current motion unit;
• and
• the real-time operating system has a monitoring thread (35) that reads an operation posture of the robot when the CAN bus (23) is idle to ensure normal operation of the motion control of the robot and reads sensor data information corresponding to each of the motion units and a task status flag on a control panel.