摘要： 为满足系统的稳定性和处理数据的实时性，在分析集控式足球机器人系统运作原理的基础上，对系统进行任务分解并构造了基于多线程技术的其上位机子系统的体系结构。在实现该系统时，采用内核同步机制和Windows消息映射机制相结合的方式完成线程之间的同步，通过以循环链队列方式设计的多级缓冲区实现数据信息的传递。

关键词: 足球机器人, 多线程, 同步机制, 循环链队列

Abstract: To meet the stability and real-time to process data of centralized control robot soccer system, the architecture of its host computer system based on multithreading technology is introduced and constructed while system task is discomposed by analysing its working principles. In the realization process of system, this paper adapts the way of combining windows kernel synchronization mechanisms and message mapping mechanism to accomplish the synchronization between threads, and uses multi-level buffers designed in loop linking queue to transfer data.

Key words: soccer robot, multithreading, synchronization mechanism, loop linking queue

中图分类号: 

• TP18