Robot control system

Abstract

The invention provides a robot control system comprising a client used for generating and sending a control instruction and receiving and displaying working parameters of a robot; the at least one control end is in communication connection with the client and the robot; the control end comprises a processing module; the processing module is used for executing a control main thread, a state management thread and a safety monitoring thread; wherein the control main thread is used for calling a corresponding control algorithm according to a control instruction so as to control the robot to work; the state management thread is used for collecting working parameters of the robot; the safety monitoring thread is used for periodically calling a corresponding control algorithm so as to monitor the working parameters. According to the robot control system provided by the invention, the response delay can be obviously reduced, and the real-time performance of the system is improved.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a control system of a robot. Background Art

[0002] In the field of collaborative robot control systems, traditional architectures often use a single-threaded polling mechanism, requiring the entire process of command parsing, kinematic solution, and servo control to be completed within a relatively short cycle. This single-threaded architecture has inherent flaws in task scheduling: control instructions must queue for resource allocation, resulting in significantly increased response latency. Especially in high-precision operation scenarios (such as precision assembly or dynamic grasping), accumulated delays can cause trajectory deviations of the end effector, making it difficult to meet the industrial requirements of millimeter-level positioning accuracy. Therefore, there is room for improvement. Summary of the Invention

[0003] The object of the present invention is to provide a robot control system that can significantly reduce response delay and improve system real-time performance.

[0004] To solve the above technical problems, the present invention is achieved through the following technical solutions:

[0005] The present invention provides a robot control system, comprising:

[0006] The client is used to generate and send control instructions, as well as receive and display the robot's working parameters;

[0007] At least one control terminal, communicating with the client and the robot; the control terminal includes a processing module; the processing module is used to execute a main control thread, a state management thread, and a security monitoring thread;

[0008] The main control thread is used to call the corresponding control algorithm according to the control instruction to control the operation of the robot;

[0009] The state management thread is used to collect the working parameters of the robot;

[0010] The safety monitoring thread is used to periodically call the corresponding control algorithm to monitor the working parameters.

[0011] In one embodiment of the present invention, the client is further configured to generate and send a selection instruction according to an operator's selection operation, so as to establish a communication connection with a control terminal at the same time.

[0012] In one embodiment of the present invention, the control terminal and the client are connected via wired or wireless communication.

[0013] In one embodiment of the present invention, the client terminal and the control terminal communicate with each other using SOCKET;

[0014] The client is also used to generate a control algorithm and send it to the control end via SOCKET;

[0015] The control main thread is also used to receive the control algorithm and write it into the storage module.

[0016] In one embodiment of the present invention, the control terminal and the robot are connected via wired communication.

[0017] In one embodiment of the present invention, the control end further includes a storage module, and the control algorithm is pre-stored in the storage module.

[0018] In one embodiment of the present invention, at the same time, the processing module executes at least one of the security monitoring thread, the state management thread, and the main control thread.

[0019] In one embodiment of the present invention, the main control thread is further used to:

[0020] Receive and analyze the control instruction to obtain corresponding control parameters; wherein different control parameters correspond to different control algorithms;

[0021] The corresponding control algorithm is called according to the control parameters, and the real-time working parameters and control parameters are input into the control algorithm, and the output result of the control algorithm is obtained and sent to control the robot to work.

[0022] In one embodiment of the present invention, the state management thread is further used to:

[0023] According to the control instructions, the working parameters of the robot are obtained in real time;

[0024] Feedback the working parameters to the client.

[0025] In one embodiment of the present invention, the security monitoring thread is further used to:

[0026] The operating parameters acquired in real time are monitored according to the safety monitoring control algorithm stored in the storage module:

[0027] When it is detected that the robot is in an abnormal state, the security monitoring thread immediately generates and sends an interrupt instruction to interrupt the execution of the control main thread and the state management thread, and control the robot to stop working; and feeds back the generated abnormal information to the client.

[0028] As described above, the present invention provides a control system for a robot, which uses a main control thread, a state management thread, and a safety monitoring thread for parallel execution, thereby avoiding the problem of instruction queuing in the traditional single-thread polling mechanism, significantly reducing response delays, improving system real-time performance, and meeting the millimeter-level positioning accuracy requirements of high-precision operation scenarios. The main control thread focuses on the execution of the control algorithm, the state management thread focuses on the acquisition of working parameters, and the safety monitoring thread focuses on safety monitoring and exception handling, which can reduce task overlap and resource competition, improve system operation efficiency, and ensure that various functional modules work together efficiently. The safety monitoring thread can proactively predict potential risks, can quickly respond to abnormal conditions, ensure the safe operation of the robot in complex collaborative scenarios, and avoid equipment damage or safety accidents.

[0029] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 Schematic diagram of a control system of a robot according to an embodiment of the present invention;

[0032] Figure 2 FIG. 1 is a schematic diagram of a control terminal according to an embodiment of the present invention.

[0033] In the figure: 100, client; 200, control end; 210, first communication module; 220, processing module; 221, main control thread; 222, status management thread; 223, security monitoring thread; 230, storage module; 240, second communication module; 300, robot. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0035] See also Figure 1The present invention discloses a control system for a robot, which may include a client 100, a control terminal 200, and a robot 300. The client 100 refers to a device for an operator to interact with the system.

[0036] See also Figure 1 In some embodiments, the client 100 can be an electronic device such as a teaching pendant, a mobile phone, or a tablet. There can be one or more clients 100. Each client 100 can generate and send selection instructions based on the operator's selection and establish a communication connection with the control terminal 200. Each client 100 can only establish a communication connection with one control terminal 200 at a time. In other words, the operator can select and control a specific robot 300 through the client 100. Each control terminal 200 is in communication with one robot 300, ensuring that instructions are accurately transmitted to the target robot.

[0037] In some embodiments, the operator can actively select a target robot through the interface of client 100 (e.g., a touch screen or physical buttons). Once the operator selects a target robot, client 100 generates a digital instruction based on the selection, including the identifier of the target control terminal 200. This identifier may include a unique identifier such as the target control terminal's IP address or device ID. Client 100 transmits the generated digital instruction and establishes a communication connection with the target control terminal 200. Once the connection is established, client 100 can send further instructions through this connection to control the behavior of the target robot.

[0038] See also Figure 2 In some embodiments, the control terminal 200 serves as an intermediary between the client 100 and the robot 300. Each control terminal 200 can communicate directly with a robot 300, transmitting instructions from the client 100 to the robot 200 and receiving feedback from the robot 300. The control terminal 200 may include a first communication module 210, a processing module 220, a storage module 230, and a second communication module 240.

[0039] In some embodiments, robots 300 are entities that perform specific tasks. Each robot communicates with client 100 via a control terminal 200 and executes commands sent by client 100. Robots 300 may be equipped with various types of sensors, motors, and actuators, which perform corresponding actions according to commands.

[0040] See also Figure 1In some embodiments, the first communication module 210 and the client 100 can be connected to each other via a wired (such as a network cable, USB, etc.) or wireless (such as Wi-Fi, Bluetooth, ZigBee, etc.) method. The specific method used depends on the actual application scenario and device design.

[0041] In some embodiments, SOCKET can be used for communication between the first communication module 210 and the client 100. The SOCKET network communication protocol can be used to establish a two-way communication channel between the client 100 and the control terminal 200. It is based on the TCP / IP protocol stack and can achieve reliable data transmission. The client 100 is not only used to select the target robot, but also to generate a control algorithm. Among them, the control algorithm is a logic or instruction set used to guide the behavior of the robot, such as path planning, motion control, etc. The client 100 can send the generated control algorithm to the first communication module 210 via SOCKET. As the recipient of the communication, the first communication module 210 is responsible for receiving the control algorithm sent by the client 100 via SOCKET.

[0042] In some embodiments, processing module 220 may be a CPU. Processing module 220 may include multiple CPU cores. Processing module 220 may be configured to create and execute a main control thread 221, a state management thread 222, and a security monitoring thread 223. At the same time, processing module 220 may execute at least one of main control thread 221, state management thread 222, and security monitoring thread 223.

[0043] In some embodiments, the core hardware of the processing module 220 may be a central processing unit (CPU), which may be responsible for performing computing and control tasks. The processing module 220 may be a multi-core CPU capable of processing multiple tasks simultaneously, thereby improving efficiency and performance. The processing module 220 may be configured to create and execute multiple threads, each responsible for a different task. The threads may include, but are not limited to, a main control thread 221, a state management thread 222, and a security monitoring thread 223.

[0044] In some embodiments, the main control thread 221 may be the core thread of the processing module 220 and is responsible for executing the main control logic. The main control thread 221 may be used to call the corresponding control algorithm according to the control instructions issued by the client 100 to control the operation of the robot 300.

[0045] In some embodiments, the state management thread 222 may be used to collect operating parameters of the robot and be responsible for monitoring and managing the system state, for example, recording the current state of the robot 300 (e.g., position, speed, power level, etc.) and updating this information when needed.

[0046] In some embodiments, the safety monitoring thread 223 may be configured to periodically invoke corresponding control algorithms to monitor operating parameters. The safety monitoring thread 223 may be responsible for monitoring system safety, for example, detecting abnormal conditions (such as collisions, overheating, etc.) and triggering appropriate safety measures.

[0047] In some embodiments, the processing module 220 can execute at least one of the control main thread 221, the state management thread 222, and the security monitoring thread 223 at the same time. The processing module 220 can process multiple tasks in parallel, depending on the number of CPU cores and the thread scheduling mechanism. For example, if the processing module 220 is a multi-core CPU, multiple threads can be executed in parallel (each CPU core runs one thread). If the processing module 220 is a single-core CPU, it can achieve concurrent execution by rotating the time slice (fast switching threads, simulating parallelism).

[0048] In some embodiments, the storage module 230 can be a storage device (such as a hard disk, solid-state drive, flash memory, etc.) for pre-storing control algorithms. The control algorithm can be used as a logic or instruction set to guide the robot's behavior. The main control thread 221 is not only responsible for executing the control logic, but also for receiving the control algorithm sent from the client 100. The client 100 can send the control algorithm to the processing module 220 through a communication connection (such as a SOCKET). After receiving the control algorithm sent by the client 100, the main control thread 221 will write these algorithms into the storage module 230, so that the control algorithm can be persisted and saved for subsequent use.

[0049] In some embodiments, the second communication module 240 communicates with the robot 300 via a wired communication, which has advantages such as high stability, strong anti-interference capability, and high transmission rate.

[0050] In some embodiments, the second communication module 240 can communicate with the motor and driver of the robot 300 through interfaces such as a serial port (Serial Port), a CAN (Controller Area Network), and an Ethernet port. Serial port communication is suitable for low-speed, short-distance data transmission. CAN refers to a communication protocol widely used in industrial control and automotive fields, with high reliability and anti-interference capabilities. Ethernet refers to a high-speed communication interface suitable for large-scale data transmission and real-time control. Through these interfaces, the second communication module 240 can send control instructions (such as speed, direction, etc.) to the motor and driver, and receive status feedback (such as position, current, etc.) of the driver.

[0051] In some embodiments, the second communication module 240 can be connected to the sensors of the robot 300 via I / O (Input / Output) communication. I / O communication can be used to transmit simple digital or analog signals. For example, a sensor can send detected data (such as temperature, distance, pressure, etc.) to the second communication module 240 via an I / O interface. The second communication module 240 can also send control signals (such as start and stop) to the sensor via the I / O interface.

[0052] In some embodiments, when an operator controls a corresponding robot 300 by operating the client 100, the client 100 may generate and send corresponding control instructions based on the operator's operation. The main control thread 221 may be specifically configured to: receive and parse the control instructions to obtain corresponding control parameters; wherein different control parameters correspond to different control algorithms; invoke the corresponding control algorithm based on the control parameters; input the real-time operating parameters and control parameters into the control algorithm; and obtain and send the output of the control algorithm to control the robot 300.

[0053] In some embodiments, the control instructions issued by the client 100 exist in the form of a binary data stream. Binary data stream is an efficient transmission method and is suitable for transmitting data in the network. In order to convert the binary data stream into a format that the program can understand, JSON decoding is required. JSON is a lightweight data exchange format that is easy for people to read and write, and is also easy for machines to parse and generate. Through JSON decoding, the binary data stream is converted into a programming language form that the program can directly process (such as a dictionary, object, structure, etc.). The parsed control instructions will be used as input to a control algorithm. For example, the control main thread 221 will perform specific operations based on the function (such as "move", "stop") and parameters (such as speed, direction) of the control instruction.

[0054] In some embodiments, the main control thread 221 first receives control instructions from the client 100, such as "move," "stop," or "accelerate." The main control thread 221 needs to parse these instructions and convert them into specific control parameters. The parsed control instructions are converted into a series of control parameters. The control parameters define how the robot 300 should perform a specific task. For example, a move instruction may be converted into parameters such as speed, direction, and distance. Based on the parsed control parameters, the main control thread 221 selects and calls the corresponding control algorithm. Different control parameters may correspond to different algorithms, such as path planning algorithms, speed control algorithms, or force control algorithms. When calling the control algorithm, the main control thread 221 inputs real-time operating parameters (such as current position, speed, posture, etc.) and control parameters (such as target position, target speed, etc.) into the control algorithm. The control algorithm calculates control outputs based on the input parameters, such as motor control signals or actuator motion instructions. The main control thread 221 obtains these output results and sends them to the motors and drivers of the robot 300 to control its operation. Ultimately, the motors and drivers of the robot 300 will perform corresponding actions based on the received control signals to complete the designated tasks.

[0055] In some embodiments, control instructions may include motion instructions, coordinate conversion instructions, parameter setting instructions, hardware control instructions, virtual wall setting instructions, and emergency stop interrupt instructions. The storage module 230 may store motion control algorithms, coordinate system control algorithms, parameter setting algorithms, hardware control algorithms, virtual wall setting algorithms, and emergency stop interrupt algorithms. Motion instructions may include joint motion instructions, terminal motion instructions, and free motion instructions. Motion control algorithms may include joint motion algorithms, terminal motion algorithms, and free motion algorithms.

[0056] In some embodiments, motion instructions refer to controlling the movement of the robot 300, such as movement, steering, acceleration, deceleration, etc. The motion control algorithm can be used to process the motion instructions and generate motion control signals for the robot 300. Upon receiving a motion instruction, the main control thread 221 invokes the motion control algorithm, generates motion control signals for the robot 300, and drives the robot 300 to perform the corresponding movement.

[0057] In some embodiments, joint motion instructions can control the movement of various joints of the robot 300, such as rotation and bending. These instructions are typically used to precisely control the robot's posture. A joint motion algorithm can be used to process joint motion instructions and generate control signals for motors and actuators at the joints. Upon receiving a joint motion instruction, the main control thread 221 invokes the joint motion algorithm, generates control signals for motors and actuators at the joints, and drives the joint motions of the robot 300.

[0058] In some embodiments, the end motion instructions can control the movement of the end arm (such as a manipulator, tool, etc.) of the robot 300, such as moving to a certain location or performing a certain operation. Such instructions are generally used to complete specific tasks. The end motion algorithm can be used to process the end motion instructions and generate control signals for the motor and driver at the end arm. When the end motion instruction is received, the main control thread 221 calls the end motion algorithm, generates control signals for the motor and driver at the end arm, and drives the end arm of the robot 300 to move.

[0059] In some embodiments, a free motion instruction can control the robot 300 to perform free motion according to preset conditions, such as moving along a specific path or avoiding obstacles. A free motion algorithm can be used to process free motion instructions and generate control signals for the robot 300 to move according to the preset conditions. Upon receiving a free motion instruction, the main control thread 221 invokes the free motion algorithm, generates control signals for the robot 300 to move according to the preset conditions, and drives the robot 300 to perform free motion.

[0060] In some embodiments, coordinate conversion instructions refer to controlling the reference coordinate system of the robot 300, such as coordinate system transformation and position calibration. A coordinate system control algorithm can be used to process coordinate conversion instructions and generate information related to the coordinate system transformation. Upon receiving a coordinate conversion instruction, the main control thread 221 invokes the coordinate system control algorithm to generate information related to the reference coordinate system and update the coordinate system of the robot 300.

[0061] In some embodiments, parameter setting instructions refer to setting operating parameters of the robot 300, such as speed, acceleration, sensor sensitivity, etc. A parameter setting algorithm can be used to process parameter setting instructions and generate operating parameters for the robot 300. Upon receiving a parameter setting instruction, the main control thread 221 invokes the parameter setting algorithm to generate operating parameters for the robot 300 and update its configuration.

[0062] In some embodiments, hardware control instructions refer to controlling the operation of external devices on the robot 300, such as a robotic arm, camera, or lighting. A hardware control algorithm can be used to process hardware control instructions and generate control signals for the external devices. Upon receiving a hardware control instruction, the main control thread 221 invokes the hardware control algorithm to generate control signals for the external devices and control their operation.

[0063] In some embodiments, a virtual wall setting instruction sets the robot 300's operating range, preventing it from entering or leaving a specific area. A virtual wall setting algorithm can be used to process the virtual wall setting instruction and generate operating range limits for the robot 300. Upon receiving the virtual wall setting instruction, the main control thread 221 invokes the virtual wall setting algorithm, generates operating range limits, and sets the robot 300's operating range.

[0064] In some embodiments, an emergency stop command is used to stop the robot 300 from operating, typically for safety reasons. The emergency stop algorithm can be used to process the emergency stop command and generate an emergency stop control signal. Upon receiving the emergency stop command, the main control thread 221 invokes the emergency stop algorithm, generates an emergency stop signal, and controls the robot 300 to immediately cease operation.

[0065] In some embodiments, the state management thread 222 can be used to obtain the operating parameters of the robot 300 in real time based on control instructions and to feed the operating parameters 300 back to the client 100. The state management thread 222 can continuously monitor the operating status of the robot 300, including its motion status, hardware status, abnormal status, etc. The state management thread 222 can send the obtained operating parameters to the client 100 so that the client can understand the real-time status of the robot 300. The state management thread 222 can perform corresponding operations based on the control instructions sent by the client 100, such as restoring an abnormal status or obtaining hardware status.

[0066] In some embodiments, the control instructions may include abnormal state recovery instructions. These abnormal state recovery instructions can be used to recover the robot 300 from an abnormal state. For example, when the robot 300 experiences a malfunction or error, the client 100 can send this instruction to request that the system restore its normal operating state. Upon receiving the abnormal state recovery instruction, the state management thread 222 can invoke the abnormal state recovery algorithm in the storage module 230, generate a control signal to recover the robot 300 from the abnormal state, and execute the recovery operation.

[0067] In some embodiments, the hardware status acquisition instruction can be used to obtain operating parameters of external devices on the robot 300, such as the position of the robot arm, sensor data, etc. Upon receiving the hardware status acquisition instruction, the state management thread 222 can obtain control signals for the operating parameters of the external devices on the robot 300 and feed the obtained parameters back to the client 100.

[0068] In some embodiments, data transmission between the control terminal 200 and the client 100 needs to be implemented through information encoding and status uploading. For example, when the client 100 sends a control instruction (such as a real-time joint angle query instruction for a robotic arm), the instruction is first serialized into a binary data stream and transmitted to the control terminal 200 through the network. After receiving the binary data stream, the control terminal 200 deserializes it into the original control instruction. The control terminal 200 calls the corresponding function (such as a function for querying the joint angle of the robotic arm) according to the control instruction and obtains the working parameters. The control terminal 200 serializes the obtained working parameters into a binary data stream and transmits it to the client 100 through the network. After receiving the binary data stream, the client 100 deserializes it into working parameters and displays it on the user interface.

[0069] In some embodiments, information encoding refers to converting control instructions or operating parameters into a binary data stream that can be transmitted over the network. Its purpose is to serialize the data for efficient transmission over the network and for parsing and restoration at the receiving end. Status uploading refers to transmitting the operating parameters obtained by the status management thread 222 over the network to the client 100 interface for display.

[0070] In some embodiments, the safety monitoring thread 223 can be used to monitor the working parameters obtained in real time according to the safety monitoring control algorithm stored in the storage module: when it is detected that the robot is in an abnormal state, the safety monitoring thread immediately generates and sends an interrupt instruction to interrupt the execution of the main control thread and the state management thread, and control the robot to stop working; and feeds back the generated abnormal information to the client.

[0071] In some embodiments, the safety monitoring thread 223 can be used to monitor the working parameters obtained in real time according to the safety monitoring control algorithm stored in the storage module: when it is detected that the robot is in an abnormal state, the safety monitoring thread immediately generates and sends an interrupt instruction to interrupt the execution of the main control thread and the state management thread, and control the robot to stop working; and feeds back the generated abnormal information to the client.

[0072] In some embodiments, the safety monitoring thread 223 continuously monitors the operating parameters of the robot 300 (such as position, speed, acceleration, etc.). The safety monitoring algorithm can be used to determine whether the robot 300 is within the set operating range. The collision detection algorithm can be used to determine whether the robot 300 is at risk of collision. The safety monitoring thread 223 can determine whether the robot 300 is within the set operating range based on the safety monitoring algorithm stored in the storage module 230. The safety monitoring thread 223 can determine whether the robot 300 is at risk of collision based on the collision detection algorithm stored in the storage module 230. When the robot 300 is detected to be in an abnormal state (such as exceeding the operating range or colliding), the safety monitoring thread 223 immediately generates and sends an interrupt command, interrupting the execution of the main control thread and the state management thread, and controlling the robot 300 to stop working. At the same time, the generated exception information (such as the exception type, the time of the exception, etc.) can be fed back to the client 100 for timely processing by the user.

[0073] As can be seen, in the above solution, the parallel execution of the main control thread, state management thread, and safety monitoring thread avoids the command queuing problem of the traditional single-threaded polling mechanism. This can significantly reduce response latency, improve system real-time performance, and meet the millimeter-level positioning accuracy requirements of high-precision operation scenarios. The main control thread focuses on control algorithm execution, the state management thread focuses on operating parameter collection, and the safety monitoring thread focuses on safety monitoring and exception handling. This can reduce task overlap and resource competition, improve system operating efficiency, and ensure the efficient collaboration of various functional modules. The safety monitoring thread can proactively predict potential risks and enable rapid response to abnormal conditions, ensuring the safe operation of robots in complex collaborative scenarios and avoiding equipment damage or safety accidents.

[0074] The embodiments of the present invention disclosed above are intended only to illustrate the present invention. They do not describe all details in detail, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A robot control system, characterized in that: include: The client is used to generate and send control instructions, as well as receive and display the robot's working parameters; At least one control terminal is connected to the client and the robot in communication; the control terminal includes a processing module; the processing module is used to execute a control main thread, a state management thread, and a security monitoring thread; Wherein, the control main thread is used to call the corresponding control algorithm according to the control instruction to control the operation of the robot; The state management thread is used to collect the working parameters of the robot; The safety monitoring thread is used to periodically call the corresponding control algorithm to monitor the working parameters.

2. The robot control system according to claim 1, characterized in that: The client is also used to generate and send a selection instruction according to the operator's selection operation, so as to establish a communication connection with a control terminal at the same time.

3. The robot control system according to claim 1, characterized in that: The control terminal is connected to the client via wired or wireless communication.

4. The robot control system according to claim 1, characterized in that: The client terminal and the control terminal communicate with each other using SOCKET; The client is also used to generate a control algorithm and send it to the control end via SOCKET; The control main thread is also used to receive the control algorithm and write it into the storage module.

5. The robot control system according to claim 1, characterized in that: The control end is connected to the robot via wired communication.

6. The robot control system according to claim 1, characterized in that: The control end also includes a storage module, and the control algorithm is pre-stored in the storage module.

7. The robot control system according to claim 1, characterized in that: At the same time, the processing module executes at least one of the security monitoring thread, the state management thread and the control main thread.

8. The robot control system according to claim 1, characterized in that: The main control thread is also used to: Receive and analyze the control instruction to obtain corresponding control parameters; wherein different control parameters correspond to different control algorithms; The corresponding control algorithm is called according to the control parameters, and the real-time working parameters and control parameters are input into the control algorithm, and the output result of the control algorithm is obtained and sent to control the robot to work.

9. The robot control system according to claim 1, characterized in that: The state management thread is also used to: According to the control instructions, the working parameters of the robot are obtained in real time; The working parameters are fed back to the client.

10. The robot control system according to claim 1, characterized in that: The security monitoring thread is also used to: The working parameters acquired in real time are monitored according to the safety monitoring control algorithm stored in the storage module: When it is detected that the robot is in an abnormal state, the security monitoring thread immediately generates and sends an interrupt instruction to interrupt the execution of the control main thread and the state management thread, and control the robot to stop working; and feeds back the generated abnormal information to the client.

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