Robot control system and method
By leveraging the collaborative mechanism of the interface information acquisition subsystem, interface control subsystem, and robot motion control subsystem, the adaptability and scalability issues of traditional robot control systems in complex and ever-changing industrial environments are resolved. This enables rapid response to production process changes, reduces maintenance costs, and improves production efficiency.
Patent Information
- Application Number
- CN202511919023.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-18
- Publication Date
- 2026-01-27
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Traditional robot control systems are poorly adaptable to complex and ever-changing industrial production environments, struggle to respond quickly to changes in production processes, have insufficient system scalability, high maintenance costs, and negatively impact production efficiency.
By employing a collaborative mechanism involving an interface information acquisition subsystem, an interface control subsystem, and a robot motion control subsystem, the robot motion control is achieved by automatically scanning hardware platform interface information, determining the target application scenario, and generating motion control commands.
It improves the adaptability of robot control systems in complex and ever-changing industrial production environments, enables rapid response to changes in production processes, enhances system scalability, reduces maintenance costs, and improves production efficiency.
Smart Images
Figure CN121403399A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of robots, and in particular to a robot control system and method. BACKGROUND
[0002] With the continuous rise of the demand for large-scale application and intelligent upgrading in the fields of industrial automation, collaborative robots and service robots, the robot control system plays a crucial role in realizing the robot task.
[0003] At present, the traditional robot control system often uses fixed program logic for robot control. However, the traditional robot control system has poor adaptability to complex and variable industrial production environments, is difficult to quickly respond to production process changes, has insufficient system expandability, and has high maintenance costs, thereby affecting production efficiency. SUMMARY
[0004] The present application provides a robot control system and method to realize flexible control of robots, improve adaptability to complex and variable industrial production environments, quickly respond to production process changes, improve system expandability, reduce maintenance costs, and thereby improve production efficiency.
[0005] According to an aspect of the present application, a robot control system is provided, which comprises an interface information acquisition subsystem, an interface control subsystem and a robot motion control subsystem, wherein,
[0006] The interface information acquisition subsystem is configured to acquire target interface information corresponding to a control hardware platform and send the target interface information to the interface control subsystem;
[0007] The interface control subsystem is configured to determine a target application scenario and, based on the target application scenario and the received target interface information, determine a target motion control instruction corresponding to a robot, and send the target motion control instruction to the robot motion control subsystem;
[0008] The robot motion control subsystem is configured to perform motion control on the robot based on the received target motion control instruction.
[0009] According to another aspect of the present application, a robot control method is provided, which comprises:
[0010] acquiring, by an interface information acquisition subsystem, target interface information corresponding to a control hardware platform and sending the target interface information to an interface control subsystem;
[0011] The interface control subsystem determines a target application scenario, and determines a target motion control instruction corresponding to the robot based on the target application scenario and the received target interface information, and sends the target motion control instruction to the robot motion control subsystem.
[0012] The robot motion control subsystem performs motion control on the robot based on the received target motion control instruction.
[0013] The robot control system provided by the embodiment of the present application comprises an interface information acquisition subsystem, an interface control subsystem and a robot motion control subsystem. The interface information acquisition subsystem is configured to acquire target interface information corresponding to a control hardware platform and send the target interface information to the interface control subsystem, thereby providing a data basis for subsequent processing. The interface control subsystem is configured to determine a target application scenario, and determine a target motion control instruction corresponding to the robot based on the target application scenario and the received target interface information, and send the target motion control instruction to the robot motion control subsystem, thereby improving the scalability of the system and quickly adapting to a production environment. The robot motion control subsystem is configured to perform motion control on the robot based on the received target motion control instruction, thereby ensuring the accuracy of the motion trajectory of the robot. The present application realizes comprehensive optimization of the robot control system in terms of compatibility, flexibility and control accuracy through the cooperative mechanism among the interface information acquisition subsystem, the interface control subsystem and the robot motion control subsystem, greatly improves the adaptability to complex and changeable industrial production environments, can quickly respond to production process changes, improves the scalability of the system, reduces maintenance costs, and thereby improves production efficiency.
[0014] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS
[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.
[0016] Figure 1 is a structural schematic diagram of a robot control system provided by an embodiment one of the present application;
[0017] Figure 2 is a flowchart of a robot control method provided by an embodiment two of the present application. DETAILED DESCRIPTION
[0018] In order to better understand the technical scheme of the present application, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.
[0019] It should be noted that the terms "first", "second", "target" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
[0020] Embodiment one
[0021] Figure 1 A structural schematic diagram of a robot control system is provided for the embodiment one of the present application. As shown in the figure, the system comprises an interface information acquisition subsystem 101, an interface control subsystem 102 and a robot motion control subsystem 103, wherein, Figure 1
[0022] The interface information acquisition subsystem 101 is configured to acquire target interface information corresponding to a control hardware platform and send the target interface information to the interface control subsystem 102;
[0023] The interface control subsystem 102 is configured to determine a target application scenario and determine a target motion control instruction corresponding to a robot based on the target application scenario and the received target interface information, and send the target motion control instruction to the robot motion control subsystem 103;
[0024] The robot motion control subsystem 103 is configured to perform motion control on the robot based on the received target motion control instruction.
[0025] In the embodiment, the interface information acquisition subsystem 101 can be used to automatically scan the physical interface in the control hardware platform, acquire the target interface information corresponding to the control hardware platform in real time, and send the target interface information to the interface control subsystem, which can provide a data basis for subsequent processing. The interface information acquisition subsystem can refer to a hardware interface perception and configuration module in the system, which is responsible for actively scanning, identifying, and dynamically managing the physical interface resources of the control hardware platform. The control hardware platform can refer to a collection of physical devices that carry control logic, perform computing tasks, and connect field devices, which realizes real-time monitoring and precise control of the production process by integrating hardware resources such as processors, memories, communication interfaces, and IO modules. The target interface information can refer to a set of parameters of entity IO scanned and parsed from the control hardware platform. Entity IO (Input / Output) can refer to the physical interface between the control hardware platform and the field device, which is responsible for converting physical signals (such as on-off signals, analog signals, and pulse signals) into digital signals, or vice versa.
[0026] The interface control subsystem 102 can be used to determine the target application scenario, determine the target motion control instruction of the robot according to the control logic corresponding to the target application scenario and the target interface information received, and send the target motion control instruction to the robot motion control subsystem, which can improve the scalability of the system, avoid the tedious operation of disconnection / reconnection in traditional scenarios, and quickly adapt to the production environment. The interface control subsystem can refer to an intelligent decision-making and instruction generation core constructed based on soft PLC. The target application scenario can refer to the specific task type that the robot needs to perform, such as welding, carrying, assembly, etc. The target motion control instruction can refer to a specific control command for driving the robot motion.
[0027] The robot motion control subsystem 103 can be used to control the motion of the robot according to the target motion control instruction received, and ensure the accuracy of the robot motion trajectory. The robot motion control subsystem can refer to the motion execution end of the system, which is responsible for converting the generated control instruction into a specific motor driving signal to realize high-precision motion of the robot. It should be noted that the interface control subsystem and the robot motion control subsystem can run on the same hardware platform, which greatly reduces the hardware cost.
[0028] Optionally, the interface information acquisition subsystem 101 includes an interface scanning module and a data processing module. The interface scanning module is used to identify the physical information of the control hardware platform based on the physical layer protocol and obtain the original interface information corresponding to the control hardware platform. The data processing module is used to preprocess the original interface information to obtain the target interface information corresponding to the control hardware platform and send the target interface information to the interface control subsystem.
[0029] The physical layer protocol can refer to the standard protocol used to define the rules for signal transmission at the physical layer of the hardware interface, including electrical characteristics, signal encoding, timing specifications, and physical connection methods. Raw interface information can refer to unprocessed interface data obtained from the control hardware platform, including the interface's physical attributes and initial communication parameters.
[0030] Specifically, the interface scanning module can scan the physical bus and communication network of the control hardware platform according to the physical layer protocol. It automatically detects the connected hardware type through the bus protocol and reads the physical signal parameters of the hardware devices, including interface type (such as RS-485 serial port, GPIO pins, etc.), physical signal characteristics (such as voltage range, current threshold, digital signal level), and communication protocol type. It establishes a mapping relationship between hardware devices and interfaces, records the device ID, interface type, physical signal parameters, and communication protocol, forming raw interface information. This provides a reliable data foundation for subsequent data processing and avoids system failures caused by signal misinterpretation. The data processing module can preprocess the raw interface information, such as through data cleaning, and use the preprocessed raw interface information as the target interface information corresponding to the control hardware platform. The target interface information is then sent to the interface control subsystem, enabling the interface control subsystem to quickly acquire and use the interface information, thus avoiding system failures caused by data errors.
[0031] Optionally, the data processing module includes: a first preprocessing unit and a second preprocessing unit, wherein the first preprocessing unit is used to perform semantic modeling on the original interface information based on a standardized interface description language to determine the standardized interface information corresponding to the control hardware platform; the second preprocessing unit is used to perform preprocessing operations on the standardized interface information to obtain the target interface information corresponding to the control hardware platform, wherein the preprocessing operations include at least one of filtering and denoising, protocol conversion, and data alignment.
[0032] In this context, a standardized interface description language can refer to a standardized language or model used to define a unified semantic framework for interface parameters. Standardized interface information can refer to unified interface information that has undergone semantic modeling and preprocessing, conforms to the specifications of the standardized interface description language, and possesses cross-platform interoperability and business interpretability.
[0033] Specifically, the first preprocessing unit can be used to perform semantic modeling on the original interface information based on a standardized interface description language, construct a standardized semantic model, and map the original interface information to the standardized semantic model to generate standardized interface information corresponding to the control hardware platform, thereby reducing data ambiguity and parsing errors and improving system reliability; the second preprocessing unit is used to perform preprocessing operations on the standardized interface information, for example, the preprocessing operations may include at least one of filtering and denoising, protocol conversion, and data alignment, to obtain the target interface information corresponding to the control hardware platform, which can reduce system failures caused by data errors and improve system reliability.
[0034] Optionally, the interface control subsystem 102 includes: a scene determination module and an instruction generation module, wherein the scene determination module is used to determine a target application scene; the instruction generation module is used to determine a target motion control instruction corresponding to the robot based on the target application scene and the received target interface information, and send the target motion control instruction to the robot motion control subsystem.
[0035] Specifically, the scenario determination module can be used for programming and downloading through the PLC human-machine interface. It can determine the target application scenario by debugging the PLC program online and downloading the PLC program. The instruction generation module is used to analyze the received target interface information based on the control logic corresponding to the target application scenario, determine the target motion control instruction corresponding to the robot, and send the target motion control instruction to the robot motion control subsystem to ensure the accuracy of robot motion control.
[0036] Optionally, the scenario determination module includes a program loading unit and a scenario determination unit, wherein the program loading unit is used to obtain a target application in response to a program loading operation; and the scenario determination unit is used to determine a target application scenario based on the target application.
[0037] The target application can refer to the digital program loaded by the system to define the robot's specific tasks and control logic, and may include core instruction sets such as process parameters, motion trajectories, and logic control rules.
[0038] Specifically, the program loading unit can dynamically load target applications from local storage, a network server, or a user input interface based on the PLC's human-machine interface; the scene determination unit is used to automatically identify and parse the target application to determine the target application scene. Through dynamic scene adaptation capabilities, real-time optimization of the production process can be supported, reducing manual configuration requirements, shortening production preparation time, and improving overall production efficiency and user experience.
[0039] Optionally, the instruction generation module includes an instruction generation unit and an instruction sending unit, wherein the instruction generation unit is used to determine the target motion control instruction corresponding to the robot based on the target application scenario and the received target interface information; and the instruction sending unit is used to send the target motion control instruction to the robot motion control subsystem based on a virtual interface.
[0040] Among them, a virtual interface can refer to a digital communication interface that supports multi-protocol data transmission and dynamic configuration.
[0041] Specifically, the instruction generation unit can be used to determine the robot control logic corresponding to the target application scenario based on the target application scenario, and determine the target motion control instruction of the robot under the control logic based on the target interface information; the instruction sending unit can be used to convert the target motion control instruction into a standard data format according to the virtual interface, and encapsulate it into a data packet conforming to the virtual interface communication protocol to ensure accurate transmission of the instruction, and send the target motion control instruction to the robot motion control subsystem. This can support the dynamic configuration and expansion of the system, adapt to changes in production processes or new hardware requirements, and reduce system iteration costs.
[0042] Optionally, the instruction generation unit includes a scene mapping subunit and an instruction generation subunit, wherein the scene mapping subunit is used to determine the interface instruction mapping map corresponding to the target application scenario; and the instruction generation subunit is used to match the target interface information based on the interface instruction mapping map to determine the target motion control instruction corresponding to the robot.
[0043] Among them, the interface instruction mapping map can refer to a structured mapping relationship library that associates the characteristics of the target application scenario with specific interface instructions.
[0044] Specifically, the scene mapping subunit can be used to determine the interface instruction mapping map of the robot in the target application scenario, which can ensure the accurate matching of the scene and the instruction, reduce manual configuration errors, and improve the accuracy of control instructions. The instruction generation subunit can be used to perform real-time matching of the target interface information according to the interface instruction mapping map to determine the target motion control instruction corresponding to the robot, which can ensure the accuracy of robot motion control and improve the robustness and stability of the system.
[0045] Optionally, the robot motion control subsystem 103 includes: an instruction verification module and a motion control module, wherein the instruction verification module is used to perform security verification on the target motion control instruction and generate a security verification result; the motion control module is used to perform motion control on the robot based on the target motion control instruction in response to the security verification result being verified as passed.
[0046] Among them, the security verification result can refer to the comprehensive conclusion generated after performing multi-level security verification on the target motion control command, which clarifies whether the command complies with hardware security specifications and scenario adaptation requirements.
[0047] Specifically, the instruction verification module can be used to verify whether the instruction format conforms to the standard specifications according to the transmission protocol of the target motion control instruction, and dynamically detect whether the instruction parameters exceed the safety range by combining hardware safety parameters (such as the maximum motor current and joint torque threshold) and scene safety rules (such as the current limit in welding scenes). For example, in an assembly scene, it can detect whether the torque control instruction exceeds the maximum allowable assembly force of the workpiece to prevent workpiece damage, generate a safety verification result, and effectively improve the overall safety of the system. The motion control module is used to convert the target motion control instruction into a control signal that can be recognized by the hardware driver in response to the safety verification result being verified as passed, and to perform motion control on the robot to ensure the accuracy of the robot's motion trajectory and meet the task requirements.
[0048] Optionally, the robot motion control subsystem 103 is further configured to acquire motion feedback information of the robot under the target motion control command, and send the motion feedback information to the interface control subsystem; the interface control subsystem 102 is further configured to determine the target interface control command corresponding to the control hardware platform based on the target application scenario and the motion feedback information, and send the target interface control command to the interface information acquisition subsystem; the interface information acquisition subsystem 101 is further configured to perform interface control on the control hardware platform based on the received target interface control command.
[0049] Motion feedback information refers to the motion state data that the robot collects and processes in real time through multimodal sensors during the execution of target motion control commands. Target interface control commands refer to optimization commands used to adjust the communication parameters of the control hardware platform interface.
[0050] Specifically, the robot motion control subsystem can also be used to collect real-time motion state data of the robot through LiDAR, force sensors, vision cameras, etc., obtain motion feedback information of the robot under the target motion control command, and send the motion feedback information to the interface control subsystem. The interface control subsystem can also be used to analyze the robot's task completion status in the target application scenario based on the target application scenario and the motion feedback information. After determining that the robot has executed the target motion control command and the task has been completed, it further determines the target interface control command of the control hardware platform in the target application scenario based on the target application scenario, and sends the target interface control command to the interface information acquisition subsystem. This enables the system to quickly adapt to changes in the production environment (such as after workpiece handling), reduce manual intervention, and improve system stability. The interface information acquisition subsystem can be used to adjust the hardware interface parameters in the control hardware platform according to the received target interface control command, which can ensure the accurate execution of the interface control command, reduce system failures caused by operational errors, and improve overall reliability.
[0051] The robot control system of this invention includes: an interface information acquisition subsystem, an interface control subsystem, and a robot motion control subsystem. The interface information acquisition subsystem acquires target interface information corresponding to the control hardware platform and sends this target interface information to the interface control subsystem, providing a data foundation for subsequent processing. The interface control subsystem determines a target application scenario and, based on the target application scenario and the received target interface information, determines a target motion control command corresponding to the robot and sends the target motion control command to the robot motion control subsystem, improving system scalability and enabling rapid adaptation to the production environment. The robot motion control subsystem performs motion control on the robot based on the received target motion control command, ensuring the accuracy of the robot's motion trajectory. This invention, through a collaborative mechanism between the interface information acquisition subsystem, the interface control subsystem, and the robot motion control subsystem, achieves comprehensive optimization of the robot control system in terms of compatibility, flexibility, and control accuracy. This greatly improves adaptability to complex and changing industrial production environments, allows for rapid response to production process changes, enhances system scalability, reduces maintenance costs, and thus improves production efficiency.
[0052] Example 2
[0053] This embodiment, based on the robot control system provided in the above embodiments, provides a robot control method. Figure 2 This is a flowchart illustrating a robot control method provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the method includes the following steps:
[0054] S210. Obtain the target interface information corresponding to the control hardware platform through the interface information acquisition subsystem, and send the target interface information to the interface control subsystem.
[0055] Specifically, the interface information acquisition subsystem can automatically scan the physical interfaces in the control hardware platform, obtain the target interface information corresponding to the control hardware platform in real time, and send the target interface information to the interface control subsystem, which can provide a data foundation for subsequent processing.
[0056] S220. Through the interface control subsystem, determine the target application scenario, and based on the target application scenario and the received target interface information, determine the target motion control command corresponding to the robot, and send the target motion control command to the robot motion control subsystem.
[0057] Specifically, the interface control subsystem can determine the target application scenario and, based on the control logic corresponding to the target application scenario and the received target interface information, determine the target motion control command corresponding to the robot, and send the target motion control command to the robot motion control subsystem. This can improve the scalability of the system, avoid the cumbersome operation of disconnecting / reconnecting wires in traditional scenarios, and quickly adapt to the production environment.
[0058] S230. The robot motion control subsystem performs motion control on the robot based on the received target motion control command.
[0059] Specifically, the robot motion control subsystem can generate control signals for the robot's own hardware based on the received target motion control commands, and perform motion control on the robot based on the control signals to ensure the accuracy of the robot's motion trajectory.
[0060] The technical solution of this embodiment acquires target interface information corresponding to the control hardware platform through an interface information acquisition subsystem, and sends the target interface information to the interface control subsystem, providing a data foundation for subsequent processing. Through the interface control subsystem, the target application scenario is determined, and based on the target application scenario and the received target interface information, the target motion control command corresponding to the robot is determined and sent to the robot motion control subsystem, improving system scalability and enabling rapid adaptation to the production environment. Through the robot motion control subsystem, based on the received target motion control command, motion control of the robot is performed, ensuring the accuracy of the robot's motion trajectory. This invention, through the collaborative mechanism between the interface information acquisition subsystem, the interface control subsystem, and the robot motion control subsystem, achieves comprehensive optimization of the robot control system in terms of compatibility, flexibility, and control accuracy, greatly improving its adaptability to complex and ever-changing industrial production environments. It can quickly respond to changes in production processes, improve system scalability, reduce maintenance costs, and thus improve production efficiency.
[0061] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.
Claims
1. A robot control system, characterized in that, include: The system comprises an interface information acquisition subsystem, an interface control subsystem, and a robot motion control subsystem. The interface information acquisition subsystem is used to acquire the target interface information corresponding to the control hardware platform and send the target interface information to the interface control subsystem. The interface control subsystem is used to determine the target application scenario, and based on the target application scenario and the received target interface information, determine the target motion control command corresponding to the robot, and send the target motion control command to the robot motion control subsystem. The robot motion control subsystem is used to perform motion control on the robot based on the received target motion control command.
2. The system according to claim 1, characterized in that, The interface information acquisition subsystem includes: an interface scanning module and a data processing module, wherein, The interface scanning module is used to identify the physical information of the control hardware platform based on the physical layer protocol and obtain the original interface information corresponding to the control hardware platform. The data processing module is used to preprocess the original interface information, obtain the target interface information corresponding to the control hardware platform, and send the target interface information to the interface control subsystem.
3. The system according to claim 2, characterized in that, The data processing module includes: a first preprocessing unit and a second preprocessing unit, wherein, The first preprocessing unit is used to perform semantic modeling on the original interface information based on a standardized interface description language to determine the standardized interface information corresponding to the control hardware platform. The second preprocessing unit is used to perform preprocessing operations on the standardized interface information to obtain the target interface information corresponding to the control hardware platform. The preprocessing operations include at least one of filtering and noise reduction, protocol conversion, and data alignment.
4. The system according to claim 1, characterized in that, The interface control subsystem includes: a scene determination module and an instruction generation module, wherein, The scenario determination module is used to determine the target application scenario; The instruction generation module is used to determine the target motion control instruction corresponding to the robot based on the target application scenario and the received target interface information, and send the target motion control instruction to the robot motion control subsystem.
5. The system according to claim 4, characterized in that, The scene determination module includes: a program loading unit and a scene determination unit, wherein, The program loading unit is used to obtain the target application in response to the program loading operation; The scenario determination unit is used to determine the target application scenario based on the target application.
6. The system according to claim 4, characterized in that, The instruction generation module includes: an instruction generation unit and an instruction sending unit, wherein, The instruction generation unit is used to determine the target motion control instruction corresponding to the robot based on the target application scenario and the received target interface information; The instruction sending unit is used to send the target motion control instruction to the robot motion control subsystem based on the virtual interface.
7. The system according to claim 6, characterized in that, The instruction generation unit includes: a scene mapping subunit and an instruction generation subunit, wherein, The scene mapping subunit is used to determine the interface instruction mapping map corresponding to the target application scene; The instruction generation subunit is used to match the target interface information based on the interface instruction mapping map to determine the target motion control instruction corresponding to the robot.
8. The system according to claim 1, characterized in that, The robot motion control subsystem includes: an instruction verification module and a motion control module, wherein, The instruction verification module is used to perform security verification on the target motion control instruction and generate a security verification result; The motion control module is used to control the robot's motion based on the target motion control command in response to the security verification result being passed.
9. The system according to claim 1, characterized in that, The robot motion control subsystem is also used to acquire motion feedback information of the robot under the target motion control command, and send the motion feedback information to the interface control subsystem; The interface control subsystem is also used to determine the target interface control command corresponding to the control hardware platform based on the target application scenario and the motion feedback information, and send the target interface control command to the interface information acquisition subsystem; The interface information acquisition subsystem is used to perform interface control on the control hardware platform based on the received target interface control command.
10. A robot control method, characterized in that, include: The interface information acquisition subsystem acquires the target interface information corresponding to the control hardware platform and sends the target interface information to the interface control subsystem. The interface control subsystem determines the target application scenario, and based on the target application scenario and the received target interface information, determines the target motion control command corresponding to the robot, and sends the target motion control command to the robot motion control subsystem. The robot motion control subsystem performs motion control on the robot based on the received target motion control command.