Robot control method, device and system and nonvolatile storage medium

Abstract

The invention discloses a robot control method, device and system and a nonvolatile storage medium. The method comprises the following steps: receiving a control instruction from a control master station through an Ethernet communication protocol; in response to the control instruction, acquiring equipment data of the robot; determining motion data of a motion control node included by the robot according to the control instruction and the equipment data; and sending the motion data to the corresponding motion control nodes through an Ethernet communication protocol, and executing the motion data by the motion control nodes. The technical problems that data transmission wiring in a robot in an Ethernet industrial control system in the related technology is complex, and safety data monitoring and safety control of the robot are difficult to implement are solved.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a robot control method, device, system and non-volatile storage medium. Background Art

[0002] In current industrial systems, the Ethernet communication protocol has been widely used, which realizes efficient and high-speed data transmission between the robot and the master station. However, although the Ethernet communication link between the robot and the external master station has been established, data transmission inside the robot still faces challenges. At the same time, the general controller master station does not have sufficient safety redundancy design, and the safety monitor directly connected in series on the communication link cannot directly obtain the monitoring data of other slave stations on the link, which brings inconvenience to the development of actual safety functions. Specifically, in the related technology, the communication between the components inside the robot is not completely based on Ethernet, but needs to rely on other communication methods, such as RS485, CAN, etc. This mixed use of multiple communication methods has led to an increase in wiring complexity, which not only increases the cost, but is also particularly inconvenient in scenarios where the robot has a high degree of integration and difficult wiring.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] Embodiments of the present invention provide a robot control method, device, system and non-volatile storage medium to at least solve the technical problems in the related art of complex data transmission wiring inside the robot in the Ethernet industrial control system and the difficulty in implementing safety data monitoring and safety control of the robot.

[0005] According to one aspect of an embodiment of the present invention, a robot control method is provided, comprising: receiving control instructions from a control master station via an Ethernet communication protocol; acquiring device data of the robot in response to the control instructions; determining motion data of a motion control node included in the robot based on the control instructions and the device data; and sending the motion data to a corresponding motion control node via an Ethernet communication protocol, and the motion control node executing the motion data.

[0006] Optionally, the method further comprises: forwarding the control instruction to the next device on the first serial link in accordance with a first predetermined order via an Ethernet communication protocol, wherein the first serial link comprises a control master station and respective slave station controllers of a plurality of robots.

[0007] Optionally, the method also includes: detecting the communication status between adjacent devices in the first series link through the Ethernet communication protocol; when the communication status between two adjacent devices in the first series link is abnormal, determining the reverse order of the first predetermined order, and forwarding the control instruction to the next device on the first series link according to the reverse order of the first predetermined order.

[0008] Optionally, the motion data is sent to the corresponding motion control node through the Ethernet communication protocol, and the motion control node executes the motion data, including: through the Ethernet communication protocol, the motion data is sent to the next node on the second serial link in a second predetermined order, and the next node forwards the motion data to the motion control node, wherein the second serial link includes a slave station controller of the target robot and multiple motion control nodes of the target robot.

[0009] Optionally, the method also includes: detecting the communication status between adjacent nodes in the second series link through the Ethernet communication protocol; when there is an abnormal communication status between two adjacent nodes in the second series link, determining the reverse order of the second predetermined order, and forwarding the control instruction to the next node on the second series link according to the reverse order of the second predetermined order.

[0010] According to another aspect of an embodiment of the present invention, a robot control device is also provided, including: a receiving module, used to receive control instructions from a control master station through an Ethernet communication protocol; a responding module, used to obtain device data of the robot in response to the control instructions; a determining module, used to determine motion data of a motion control node included in the robot based on the control instructions and the device data; and a sending module, used to send the motion data to a corresponding motion control node, which executes the motion data.

[0011] According to another aspect of an embodiment of the present invention, a robot control system is also provided, including: a control master station and multiple robots, wherein each of the multiple robots is provided with a slave station controller, and multiple motion control nodes, the control master station and the respective slave station controllers of the multiple robots are connected in series to form a first series link, the control master station is used to issue control instructions to the respective slave station controllers of the multiple robots, and the devices of the first series link transmit data through an Ethernet communication protocol; the respective slave station controllers of the multiple robots respectively execute any one of the above-mentioned robot control methods.

[0012] Optionally, slave controllers in multiple robots are connected in series with multiple motion control nodes to form a second series link, and the nodes of the second series link transmit data via an Ethernet communication protocol.

[0013] According to another aspect of an embodiment of the present invention, a non-volatile storage medium is provided, the non-volatile storage medium including a stored program, wherein when the program is running, the device where the non-volatile storage medium is located is controlled to execute any one of the above-mentioned robot control methods.

[0014] According to yet another aspect of an embodiment of the present invention, a computer device is provided. The computer device includes a processor, and the processor is used to run a program. When the program is run, any one of the above-mentioned robot control methods is executed.

[0015] According to yet another aspect of an embodiment of the present invention, there is further provided a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, any one of the above-mentioned robot control methods is implemented.

[0016] In an embodiment of the present invention, control instructions are received from a control master station through an Ethernet communication protocol; in response to the control instructions, device data of the robot is acquired; based on the control instructions and the device data, motion data of a motion control node included in the robot is determined; and the motion data is sent to a corresponding motion control node through an Ethernet communication protocol, and the motion control node executes the motion data, thereby achieving the purpose of comprehensively monitoring the robot's own data based on the Ethernet communication link, thereby achieving the technical effect of reducing the complexity of wiring for data transmission inside the robot, and realizing distributed security data monitoring and processing, thereby solving the technical problems in the related art of complex data transmission wiring inside the robot in an Ethernet industrial control system, and the difficulty in implementing security data monitoring and security control of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 A hardware structure block diagram of a computer terminal for implementing a robot control method is shown;

[0019] Figure 2 is a schematic flow chart of a robot control method provided according to an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of a robot control device provided according to an embodiment of the present invention;

[0021] Figure 4 is a schematic diagram of a robot control system provided according to an embodiment of the present invention;

[0022] Figure 5It is a schematic diagram of the structure of a slave station controller provided according to an optional embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. 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 creative work should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] First, some nouns or terms that appear in the description of the embodiments of the present application are subject to the following interpretations:

[0026] EtherCAT (Ethernet Control Automation Technology) is an open architecture, Ethernet-based fieldbus system. The CAT in its name is the abbreviation of Control Automation Technology. Automation generally requires shorter data update time (or cycle time), low communication jitter during data synchronization, and low hardware cost for communication. The purpose of EtherCAT development is to allow Ethernet to be used in automation applications.

[0027] According to an embodiment of the present invention, a method embodiment of robot control is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0028] The method embodiment provided in the first embodiment of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1FIG. 1 shows a hardware structure block diagram of a computer terminal for implementing a robot control method. Figure 1 As shown, the computer terminal 10 may include one or more (102a, 102b, ..., 102n are used to illustrate) processors (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the BUS bus), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0029] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computer terminal 10. As described in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0030] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the robot control method in the embodiment of the present invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, the robot control method of the above-mentioned application is realized. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computer terminal 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0031] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 10 .

[0032] Figure 2is a flow chart of a robot control method according to an embodiment of the present invention. Figure 2 As shown, the method comprises the following steps:

[0033] Step S202, receiving control instructions from the control master station through the Ethernet communication protocol.

[0034] In this step, the Ethernet communication protocol is an ideal choice for robot control systems due to its high speed, high efficiency and wide application. Robot control systems generally use distributed processing. The control master station can be a main control device with a server and communication equipment. The slave controller that executes this step can be a built-in controller in the robot. The control master station sends control instructions to the slave controller through the Ethernet communication protocol, thereby controlling the robot.

[0035] Step S204, in response to the control instruction, obtaining device data of the robot.

[0036] In this step, after receiving the control instructions, the robot needs to respond to these instructions. This usually involves obtaining the current state or device data of the robot and then processing this data. Data acquisition can specifically be obtaining sensor readings, motor positions, etc. This data is crucial to determining the robot's next action.

[0037] Step S206, determining the motion data of the motion control nodes included in the robot according to the control instruction and the device data.

[0038] In this step, after obtaining the device data, the robot needs to determine the specific motion data of the motion control node based on the control instructions and these data. This includes calculating the target position, speed, acceleration, etc. to ensure that the robot can accurately perform actions according to the instructions.

[0039] Step S208: Send the motion data to the corresponding motion control node through the Ethernet communication protocol, and the motion control node executes the motion data.

[0040] In this step, the robot sends the calculated motion data to the corresponding motion control nodes through the Ethernet communication protocol. These nodes are responsible for controlling the actual motion of the robot according to the received motion data, such as driving the motor, adjusting the posture, etc.

[0041] Through the above steps, the purpose of comprehensively monitoring the robot's own data based on the Ethernet communication link can be achieved, thereby achieving the technical effect of reducing the wiring complexity of data transmission inside the robot, and further solving the technical problem of complex data transmission wiring inside the robot in the Ethernet industrial control system in the related technology.

[0042] As an optional embodiment, the method also includes: forwarding the control instruction to the next device on the first serial link in accordance with a first predetermined order via an Ethernet communication protocol, wherein the first serial link includes a control master station and respective slave station controllers of a plurality of robots.

[0043] Optionally, in the method provided by this optional embodiment, the control instruction is not only received and executed by the slave controller of a certain robot, but also forwarded to the next device on the first serial link through the Ethernet communication protocol in a predetermined order. This serial link includes a control master station and slave controllers of multiple robots, realizing a one-to-many control mode. Data can be transmitted on the first serial link without establishing a connection from the control master station to each slave controller. In this case, when a new robot needs to be added, it is also relatively easy, and it only needs to be added to the first serial link.

[0044] As an optional embodiment, the method also includes: detecting the communication status between adjacent devices in the first series link through the Ethernet communication protocol; when there is an abnormal communication status between two adjacent devices in the first series link, determining the reverse order of the first predetermined order, and forwarding the control instruction to the next device on the first series link according to the reverse order of the first predetermined order.

[0045] Optionally, in order to ensure the reliability of communication, the communication status between adjacent devices in the first series link can also be detected through the Ethernet communication protocol, which can be achieved by regularly sending heartbeat packets or request responses. If an abnormal communication status is detected, that is, the communication status between two adjacent devices in the first series link is abnormal, the reverse order of the first predetermined order can be determined, and the control instruction can be forwarded to the next device in the reverse order. This is a fault-tolerant mechanism that ensures that when some devices fail to communicate, the control instruction can still be conveyed to other devices.

[0046] As an optional embodiment, the motion data is sent to the corresponding motion control node through the Ethernet communication protocol, and the motion control node executes the motion data, including: sending the motion data to the next node on the second serial link in a second predetermined order through the Ethernet communication protocol, and the next node forwarding the motion data to the motion control node, wherein the second serial link includes a slave station controller of the target robot and multiple motion control nodes of the target robot.

[0047] Optionally, in this embodiment, the process of sending motion data is completely based on the Ethernet communication protocol. Specifically, the slave controller will send the motion data to the next node on the second series link in a predetermined order (i.e., the second predetermined order). This second series link includes the slave controller of the target robot and multiple motion control nodes of the robot. In this way, the motion data can pass through each node on the link in turn and is finally forwarded to the target motion control node. Once the motion control node receives these data, it will perform corresponding motion operations based on these data. The advantage of this method is that it simplifies the communication process inside the robot and eliminates the need for multiple communication methods, thereby reducing the complexity of wiring and reducing costs.

[0048] As an optional embodiment, the method also includes: detecting the communication status between adjacent nodes in the second series link through the Ethernet communication protocol; when there is an abnormal communication status between two adjacent nodes in the second series link, determining the reverse order of the second predetermined order, and forwarding the control instruction to the next node on the second series link according to the reverse order of the second predetermined order.

[0049] Optionally, in order to ensure the reliability of communication in the second series link, the communication status between adjacent nodes in the second series link can also be detected. This is achieved by regularly sending heartbeat packets or request responses through the Ethernet communication protocol. If an abnormality is detected in the communication status between two adjacent nodes, the system will immediately determine the reverse order of the second predetermined sequence and forward the control instruction to the next node on the second series link according to the reverse order.

[0050] The advantage of this fault-tolerant mechanism is that it can ensure that control instructions or motion data can still be transmitted to other nodes when communication fails at some nodes, thus ensuring the stability and reliability of the robot system. In this way, even in the face of communication failures, the robot can continue to perform its tasks without completely failing.

[0051] Compared with the prior art, the embodiment of the present invention solves the problems of excessive bus occupancy and communication delay caused by the robot using CAN bus, 485 bus, etc. through the EtherCAT high-speed bus, and alleviates the over-centralized control mode of the master station to a certain extent through the function of the branch node from the slave station to the master station, that is, the distributed control mode. The central node of the master station only needs to manage the branch node. At the same time, a loop redundancy design is added to each link managed by the branch to ensure the safety redundancy design of the robot. When a motion control device fails, it will not affect other nodes.

[0052] Compared with the existing technology, if the slave controller only acts as an EtherCAT slave node, it will not be able to obtain other data of the slave node, and it will not be able to perform various safety functions, such as power protection, terminal TCP speed deviation, position deviation and other protections, and can only be handled by the master controller. This makes the master controller in the system have to take on the control task of safety functions in addition to the planning tasks of various robots, and the risk of problems increases. The slave controller with master-slave conversion can also act as a master station to manage the data on this link (the second serial link) to solve this problem.

[0053] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0054] Through the description of the above implementation methods, those skilled in the art can clearly understand that the robot control method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0055] According to an embodiment of the present invention, a robot control device for implementing the above robot control method is also provided. Figure 3 is a structural block diagram of a robot control device provided according to an embodiment of the present invention. Figure 3 As shown, the robot control device includes: a receiving module 32, a responding module 34, a determining module 36 and a sending module 38. The robot control device is described below.

[0056] The receiving module 32 is used to receive control instructions from the control master station through the Ethernet communication protocol.

[0057] The response module 34 is connected to the receiving module 32 and is used to obtain the device data of the robot in response to the control instruction.

[0058] The determination module 36 is connected to the response module 34 and is used to determine the motion data of the motion control nodes included in the robot according to the control instructions and the device data.

[0059] The sending module 38 is connected to the determining module 36 and is used to send the motion data to the corresponding motion control node, and the motion control node executes the motion data.

[0060] It should be noted that the receiving module 32, the responding module 34, the determining module 36 and the sending module 38 correspond to steps S202 to S208 in the embodiment, and the examples and application scenarios implemented by the multiple modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above embodiment. It should be noted that the above modules, as part of the device, can be run in the computer terminal 10 provided in the embodiment.

[0061] According to an embodiment of the present invention, a robot control system for implementing the above robot control method is also provided. Figure 4 is a structural block diagram of a robot control system provided according to an embodiment of the present invention, such as Figure 4 As shown, the robot control system includes: a control main station and multiple robots. The robot control system is described below.

[0062] Each of the multiple robots is provided with a slave controller and multiple motion control nodes. The control master station is connected in series with the slave controllers of each of the multiple robots to form a first series link. The control master station is used to issue control instructions to the slave controllers of each of the multiple robots. The devices in the first series link transmit data through the Ethernet communication protocol; the slave controllers of each of the multiple robots respectively execute any one of the above-mentioned robot control methods.

[0063] Optionally, slave controllers in multiple robots are connected in series with multiple motion control nodes to form a second series link, and the nodes of the second series link transmit data via an Ethernet communication protocol.

[0064] It should be noted here that the robot control system is a highly integrated system based on the Ethernet communication protocol, which mainly includes a control master station and multiple robots. Each robot is equipped with a slave station controller and multiple motion control nodes, and these components work together to realize various movements and functions of the robot.

[0065] First, the control master station and the slave controllers of multiple robots are connected in series to form a first series link. The main function of this link is to transmit the control instructions issued by the control master station. Specifically, the control master station will send control instructions to the slave controllers of multiple robots. These instructions will pass through each device on the first series link in turn, and will eventually be received and executed by each slave controller. All devices on the first series link transmit data through the Ethernet communication protocol, which ensures the efficiency and stability of data transmission.

[0066] Secondly, the slave controller inside each robot and multiple motion control nodes are also connected in series to form a second series link. The main function of this link is to transmit motion data and control signals to achieve fine motion control inside the robot. Specifically, the slave controller will send the motion data and control signals to the next node on the second series link in a predetermined order. These signals will pass through each motion control node on the link in turn and are finally used to perform the corresponding motion operation. Similarly, all nodes on the second series link also transmit data through the Ethernet communication protocol, which further simplifies the communication process inside the robot and reduces the complexity of wiring.

[0067] Optionally, the robot control system also supports detecting the communication status between adjacent nodes in the second serial link and implementing a fault-tolerant mechanism. Specifically, the system periodically detects the communication status between adjacent nodes to ensure the reliability and stability of data transmission. If an abnormal communication status is detected, the system immediately takes corresponding fault-tolerant measures, such as determining the reverse order of the predetermined sequence, and forwarding the control instructions or motion data to other nodes in the reverse order to ensure the normal operation of the robot system.

[0068] The robot control system achieves efficient and stable data transmission and motion control by adopting Ethernet communication protocol and serial link structure. At the same time, by supporting communication status detection and fault tolerance mechanism, the reliability and stability of the system are further improved. This makes the robot control system have broad application prospects in industrial automation, intelligent manufacturing and other fields.

[0069] like Figure 4 As shown in the figure, this EtherCAT robot system mainly includes four types of nodes: master node, branch node, motion control device node and IO device node. The master node is used as the EtherCAT master station to execute the robot's core perception and control algorithms, receive and process EtherCAT bus data and send instructions. Each frame of its data packet will contain 1-n safety control board data, as well as the data of motion control devices and IO devices connected in series on each branch. The master station only needs to manage branch nodes 1-n, which can include two ports P0 and P1, of which P1 is a redundant port.

[0070] The branch node can be a safety control board, which communicates with the previous node through the P0 port and forwards it to the next node through the P2 port. At the same time, it will split the IO device data and motion control device data under this branch node and send it down through P1 as a master. The branch node is a slave-to-master device. For the main controller, it is an Ether slave, and for the motion control devices and IO devices under it, it is an Ether master.

[0071] Both motion control devices and IO devices are standard EtherCAT slave devices, receiving data from the previous node through P0 and forwarding it to the next node through P1.

[0072] in, Figure 5 is a schematic diagram of the structure of a slave station controller provided according to an optional embodiment of the present invention, such as Figure 5 As shown, ESC can be an EtherCAT slave controller. CPU1 and CPU2 can be two CPUs of a dual-core chip, which exchange data through shared memory. They share an external crystal oscillator or clock signal to ensure the synchronization of clock cycles. CPU1 can parse the data of the main controller and put it into the shared memory, and generate an interrupt signal to CPU2 during the synchronization cycle. After receiving the interrupt signal, CPU2 obtains the node data required for this link from the shared memory and packages it, and sends it out by packaging it into EtherCAT format data through the EtherCAT board. CPU1 can also be responsible for further processing of the data of this node.

[0073] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a non-volatile storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0074] The embodiment of the present invention further provides a non-volatile storage medium. Optionally, in this embodiment, the non-volatile storage medium can be used to store the program code executed by the robot control method provided in the above embodiment.

[0075] Optionally, in this embodiment, the non-volatile storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0076] Optionally, in this embodiment, the non-volatile storage medium is configured to store program codes for executing the following steps: receiving control instructions from a control master station via an Ethernet communication protocol; acquiring device data of the robot in response to the control instructions; determining motion data of a motion control node included in the robot based on the control instructions and the device data; and sending the motion data to a corresponding motion control node via an Ethernet communication protocol, and the motion control node executing the motion data.

[0077] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for executing the following steps: the method also includes: forwarding the control instruction to the next device on the first serial link in a first predetermined order via an Ethernet communication protocol, wherein the first serial link includes a control master station and respective slave station controllers of multiple robots.

[0078] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for executing the following steps: the method also includes: detecting the communication status between adjacent devices in the first series link through the Ethernet communication protocol; when there is an abnormal communication status between two adjacent devices in the first series link, determining the reverse order of the first predetermined order, and forwarding the control instruction to the next device on the first series link in the reverse order of the first predetermined order.

[0079] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for executing the following steps: sending motion data to a corresponding motion control node via an Ethernet communication protocol, and the motion control node executing the motion data, including: sending the motion data to a next node on a second serial link in a second predetermined order via an Ethernet communication protocol, and the next node forwarding the motion data to the motion control node, wherein the second serial link includes a slave station controller of the target robot and multiple motion control nodes of the target robot.

[0080] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for executing the following steps: the method also includes: detecting the communication status between adjacent nodes in the second series link through the Ethernet communication protocol; when there is an abnormal communication status between two adjacent nodes in the second series link, determining the reverse order of the second predetermined order, and forwarding the control instruction to the next node on the second series link in the reverse order of the second predetermined order.

[0081] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the robot control method in each embodiment of the present application.

[0082] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0083] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0084] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0085] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0086] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0087] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0088] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A robot control method, characterized in that: include: Receive control instructions from the control master station through Ethernet communication protocol; In response to the control instruction, acquiring device data of the robot; Determining motion data of a motion control node included in the robot according to the control instruction and the device data; The motion data is sent to a corresponding motion control node through an Ethernet communication protocol, and the motion control node executes the motion data.

2. The method according to claim 1, characterized in that: Also includes: The control instruction is forwarded to the next device on the first serial link in accordance with a first predetermined order through an Ethernet communication protocol, wherein the first serial link includes the control master station and respective slave station controllers of a plurality of robots.

3. The method according to claim 2, characterized in that Also includes: Detecting the communication status between adjacent devices in the first serial link through an Ethernet communication protocol; When the communication status between two adjacent devices in the first series link is abnormal, a reverse order of the first predetermined sequence is determined, and the control instruction is forwarded to the next device on the first series link according to the reverse order of the first predetermined sequence.

4. The method according to claim 1, characterized in that: The step of sending the motion data to a corresponding motion control node through an Ethernet communication protocol, and executing the motion data by the motion control node, includes: Through the Ethernet communication protocol, the motion data is sent to the next node on the second serial link in accordance with a second predetermined order, and the next node forwards the motion data to the motion control node, wherein the second serial link includes a slave station controller of the target robot and multiple motion control nodes of the target robot.

5. The method according to claim 4, characterized in that Also includes: Detecting the communication status between adjacent nodes in the second serial link through an Ethernet communication protocol; When there is an abnormal communication state between two adjacent nodes in the second series link, a reverse order of the second predetermined sequence is determined, and the control instruction is forwarded to a next node on the second series link according to the reverse order of the second predetermined sequence.

6. A robot control device, characterized in that: include: A receiving module, used for receiving control instructions from a control master station via an Ethernet communication protocol; A response module, used for acquiring device data of the robot in response to the control instruction; A determination module, used to determine motion data of a motion control node included in the robot according to the control instruction and the device data; The sending module is used to send the motion data to the corresponding motion control node, and the motion control node executes the motion data.

7. A robot control system, characterized in that: include: Control a master station and multiple robots, wherein each of the multiple robots is provided with a slave station controller and multiple motion control nodes, The control master station is connected in series with the slave station controllers of the plurality of robots to form a first series link, the control master station is used to issue control instructions to the slave station controllers of the plurality of robots, and the devices of the first series link perform data transmission through an Ethernet communication protocol; The slave controllers of each of the plurality of robots respectively execute the robot control method according to any one of claims 1 to 5.

8. The system according to claim 7, characterized in that The slave controllers in the multiple robots are connected in series with the multiple motion control nodes to form a second series link, and the nodes of the second series link transmit data through the Ethernet communication protocol.

9. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored program, wherein when the program is executed, the device where the non-volatile storage medium is located is controlled to execute the robot control method according to any one of claims 1 to 5.

10. A computer program product comprising computer instructions, characterized in that: The computer instructions are executed by a processor to execute the robot control method according to any one of claims 1 to 5.

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