Robot controlling method, system and warehouse-transport robot
View Patent ↗Arobot controlling method, system and warehouse-transport robot, which relates to the field of robot control. The method comprises: receiving, by a chassis controller, an information synchronization instruction sent by a main controller; performing, by the chassis controller, information synchronization with a rotation controller according to the information synchronization instruction; sending, by the chassis controller, a synchronous rotation instruction to the rotation controller, and controlling a chassis motor to drive a robot chassis to rotate at a predetermined angular velocity relative to the ground; controlling, by the rotation controller, a rotation motor to drive a robot rotation mechanism to synchronously rotate at an angular velocity relative to the rotating the robot chassis according to the synchronous rotation instruction.
1. A robot controlling method, comprising:
receiving, by a chassis controller, an information synchronization instruction sent by a main controller;
performing, by the chassis controller, information synchronization with a rotation controller according to the information synchronization instruction;
sending, by the chassis controller, a synchronous rotation instruction to the rotation controller, and controlling a chassis motor to drive a robot chassis to rotate at a predetermined angular velocity relative to a ground;
performing, by the rotation controller, data initialization according to the information synchronization instruction, wherein the information synchronization instruction comprises information on a maximum angular velocity, an angular acceleration, and an angle of rotation; and
controlling, by the rotation controller, a rotation motor to drive a robot rotation mechanism to synchronously rotate at an angular velocity relative to the rotating robot chassis according to the synchronous rotation instruction, wherein
a direction of the angular velocity relative to the ground of the robot chassis is opposite to that of the angular velocity relative to the rotating chassis of the robot rotation mechanism, and
a value of the angular velocity relative to the ground of the robot chassis is equal to that of the angular velocity relative to the rotating chassis of the robot rotation mechanism.
2. The method according to claim 1 , further comprising:
controlling, by the rotation controller, the rotation motor to synchronously rotate with the chassis motor by forming an interrupt according to the synchronous rotation instruction.
3. The method according to claim 2 , wherein the interrupt is formed, by the rotation controller, by responding to a level signal transition of an Input/Output (IO) signal being the synchronous rotation instruction.
4. The method according to claim 2 , further comprising:
determining, by the chassis controller, the angular velocity relative to the ground for the rotation of the robot chassis at predetermined period; and
based on the synchronous rotation instruction sent by the chassis controller, determining, by the rotation controller, the angular velocity relative to the rotating chassis of the robot rotation mechanism during the interrupt.
5. The method according to claim 1 , further comprising:
sending, by the chassis controller, the information synchronization instruction to the rotation controller by a Controller Area Network (CAN) bus in a case that the robot meets rotation conditions.
6. A robot controlling system, comprising:
one or more memories, a main controller, a chassis controller, and a rotation controller,
wherein, the main controller, the chassis controller, and the rotation controller are configured to execute a method on a basis of instructions stored in the memories, comprising:
receiving, by the chassis controller, an information synchronization instruction sent by the main controller;
performing, by the chassis controller, information synchronization with the rotation controller according to the information synchronization instruction;
sending, by the chassis controller, a synchronous rotation instruction to the rotation controller via a Controller Area Network (CAN) bus in a case that the robot meets rotation conditions, and controlling a chassis motor to drive a robot chassis to rotate at a predetermined angular velocity relative to a ground;
performing, by the rotation controller, data initialization according to the information synchronization instruction, wherein the information synchronization instruction comprises information on a maximum angular velocity, an angular acceleration, and an angle of rotation; and
controlling, by the rotation controller, a rotation motor to drive a robot rotation mechanism to synchronously rotate at an angular velocity relative to the rotating robot chassis according to the synchronous rotation instruction, wherein
a direction of the angular velocity relative to the ground of the robot chassis is opposite to that of the angular velocity relative to the rotating chassis of the robot rotation mechanism, and
a value of the angular velocity relative to the ground of the robot chassis is equal to that of the angular velocity relative to the rotating chassis of the robot rotation mechanism.
7. The robot controlling system according to claim 6 , wherein the method further comprises:
controlling, by the rotation controller, the rotation motor to synchronously rotate with the chassis motor by forming an interrupt according to the synchronous rotation instruction.
8. The robot controlling system according to claim 7 , wherein the interrupt is formed by responding to a level signal transition of an Input/Output (IO) signal being the synchronous rotation instruction.
9. A warehouse-transport robot, comprising the robot controlling system of claim 8 .
10. The robot controlling system according to claim 7 , wherein the method further comprises:
determining, by the chassis controller, the angular velocity relative to the ground for the rotation of the robot chassis at predetermined period; and
based on the synchronous rotation instruction sent by the chassis controller, determining, by the rotation controller, the angular velocity relative to the rotating chassis of the robot rotation mechanism during the interrupt.
11. A warehouse-transport robot, comprising the robot controlling system of claim 10 .
12. A warehouse-transport robot, comprising the robot controlling system of claim 7 .
13. A warehouse-transport robot, comprising the robot controlling system of claim 6 .
14. A non-transitory computer-readable storage medium on which computer program instructions are stored, which when executed by a processor implement a method, comprising:
receiving, by a chassis controller, an information synchronization instruction sent by a main controller;
performing, by the chassis controller, information synchronization with a rotation controller according to the information synchronization instruction;
sending, by the chassis controller, a synchronous rotation instruction to the rotation controller via a Controller Area Network (CAN) bus in a case that a robot meets rotation conditions, and controlling a chassis motor to drive a robot chassis to rotate at a predetermined angular velocity relative to a ground;
performing, by the rotation controller, data initialization according to the information synchronization instruction, wherein the information synchronization instruction comprises information on a maximum angular velocity, an angular acceleration, and an angle of rotation; and
controlling, by the rotation controller, a rotation motor to drive a robot rotation mechanism to synchronously rotate at an angular velocity relative to the rotating robot chassis according to the synchronous rotation instruction, wherein
a direction of the angular velocity relative to the ground of the robot chassis is opposite to that of the angular velocity relative to the rotating chassis of the robot rotation mechanism, and
a value of the angular velocity relative to the ground of the robot chassis is equal to that of the angular velocity relative to the rotating chassis of the robot rotation mechanism.
15. The non-transitory computer-readable storage medium according to claim 14 , wherein the method further comprises:
controlling, by the rotation controller, the rotation motor to synchronously rotate with the chassis motor by forming an interrupt according to the synchronous rotation instruction.
16. The non-transitory computer-readable storage medium according to claim 15 , wherein the interrupt is formed, by the rotation controller, by responding to a level signal transition of an Input/Output (IO) signal being the synchronous rotation instruction.
17. The non-transitory computer-readable storage medium according to claim 15 , wherein the method further comprises:
determining, by the chassis controller, the angular velocity relative to the ground for the rotation of the robot chassis at predetermined period; and
based on the synchronous rotation instruction sent by the chassis controller, determining, by the rotation controller, the angular velocity relative to the rotating chassis of the robot rotation mechanism during the interrupt.