# US 10,864,635 B2 · GPOS-connected real-time robot control system and real-time device control system using same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,864,635 B2 - Document ID: US10864635B2 - Status: Granted - Kind: B2 - Application number: 15/762,065 - Filed: 2016-07-22 - Published: 2018-10-04 - Granted: 2020-12-15 - Earliest claimed: 2015-09-21 - Assignees: Rainbow Robotics - Applicants: Rainbow Robotics - Inventors: Jung Ho Lee; Jeong Soo Lim - Web page: https://patentgrep.com/patent/US10864635B2 ## CPC - B25J 9/1656: {characterised by programming, planning systems for manipulators} - B25J 9/0084: {comprising a plurality of manipulators} - B25J 9/1602: {characterised by the control system, structure, architecture} - B25J 9/161: {Hardware, e.g. neural networks, fuzzy logic, interfaces, processor} - B25J 9/1661: {characterised by task planning, object-oriented languages} - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion} - B25J 19/02: Sensing devices - G05B 19/042: using digital processors (G05B19/05 takes precedence) - G06F 9/544: {Buffers; Shared memory; Pipes} - G06F 9/545: {where tasks reside in different layers, e.g. user- and kernel-space} - Y10S 901/08: Robot - Y10S 901/46: Sensing device - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract Provided is a real-time robot controlling system which includes a GPOS (General Purpose Operation System); a RTOS (Real Time Operation System) operated on the GPOS to drive a device controlling system; and one or more devices being controlled in hard real-time connected to the RTOS in a real-time device controlling system, wherein the device controlling system providing a user interface to the GPOS; performing real-time device control processes according to the interface input or time synchronization; and processing communication with the one or more devices according to the control processes. ## Claims ### Claim 1 A real-time device controlling system comprising: a GPOS (General Purpose Operation System); a RTOS (Real Time Operation System) operated on the GPOS to drive the device controlling system; one or more devices connected to the RTOS to be controlled in hard real-time; a real-time kernel driven in a virtual OS method on the GPOS; and a device control module receiving sensor information from the one or more devices to update in a shared memory according to time synchronization with the kernel, wherein the device controlling system provides a user interface to the GPOS, performs a real-time device control process according to an interface input or the time synchronization, and processes communication with the one or more devices according to the control process, wherein the device control module obtains reference information from the shared memory according to the time synchronization with the kernel and transferring control signals generated based on the reference information to the one or more devices. ### Claim 2 (depends on 1) The real-time device controlling system of claim 1, wherein the device controlling system further comprises one or more agent processes accessible from the GPOS. ### Claim 3 (depends on 2) The real-time device controlling system of claim 2, wherein the GPOS comprises an external process interlinking to the device controlling system at one of an OSX, Linux, and Windows operating systems. ### Claim 4 (depends on 2) The real-time device controlling system of claim 2, wherein the GPOS further comprises another robot middleware framework accessing each of the one or more agent processes of the device controlling system. ### Claim 5 A robot controlling system, comprising: one or more agents interlinking to the robot controlling system through an interface provided at a GPOS and having mutually independent processes; a RTOS operated by the GPOS; a shared memory updating reference data for a robot device control of one or more robot devices according to an operation of the one or more agents; and a device control module synchronized with the one or more agents to output control signals of the one or more robot devices based on the reference data obtained from the shared memory, wherein the robot controlling system provides a user interface to the GPOS, and wherein the device control module is synchronized to a real-time kernel driven in a virtual OS method on the GPOS. ### Claim 6 (depends on 5) The robot controlling system of claim 5, wherein the device control module receives sensor information from the one or more robot devices according to time synchronization with the kernel to update the shared memory. ### Claim 7 (depends on 5) The robot controlling system of claim 5, wherein the GPOS comprises an external process interlinking to the one or more agents at one of an OSX, Linux, and Windows operating systems. ### Claim 8 (depends on 7) The robot controlling system of claim 7, wherein the robot controlling system further comprises one or more agent processes accessible from the GPOS, and wherein the GPOS further comprises another robot middleware framework accessing each of the one or more agent processes of the robot controlling system. ### Claim 9 (depends on 5) The robot controlling system of claim 5, further comprising a communication module for transferring the control signals, wherein the communication module converts the control signals into at least one of EtherCAT, CAN, and RS485 for transmission to the robot device.