CN106625674B - A kind of command processing method and robot for robot - Google Patents
A kind of command processing method and robot for robot Download PDFInfo
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- CN106625674B CN106625674B CN201611241759.4A CN201611241759A CN106625674B CN 106625674 B CN106625674 B CN 106625674B CN 201611241759 A CN201611241759 A CN 201611241759A CN 106625674 B CN106625674 B CN 106625674B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
Abstract
The invention discloses a kind of command processing methods and robot for robot.The described method includes: control host computer receives multi-modal input data and parses；Control host computer generates the corresponding slave computer of multi-modal output data to be output based on the multi-modal input data after the parsing and executes instruction, and the slave computer is executed instruction and is saved in instruction set；Control host computer recalls slave computer from described instruction concentration one by one and executes instruction and export to slave computer；Control slave computer executes the slave computer and executes instruction the multi-modal output of progress.Method according to the invention it is possible to guarantee that robot host computer slave computer generated executes instruction the orderly slave computer that is sent to and executes, to greatly improve the operational reliability of robot, guarantee the correctness of robot output, the user experience of maintaining robot.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of command processing method and robot for robot.
Background technique
With the continuous development of robot technology, intelligent robot is more and more applied to the daily production of the mankind
In life.With the continuous upgrading of intelligent robot hardware device, the function of robot also becomes increasingly complex, corresponding robot
Runtime data treating capacity also continues to increase.A most direct embodiment is exactly, in robot operational process, robot system
It is generated in the internal unit time and the command quantity transmitted is continuously increased.Especially, having host computer and slave computer structure
In robot system, in the interactive process of host computer and slave computer, host computer needs to be sent to slave computer and holds in the unit time
Capable slave computer instruction is continuously increased.
With the continuous upgrading of robot system processing capacity, during the realization of certain more complex functional applications,
The execution movement that robot faces is more, is difficult the coherent execution for realizing each movement, this has just eventually led to machine
People's application function cannot be realized perfectly, to leverage user experience.
Summary of the invention
The present invention provides a kind of command processing methods for robot, which comprises
Control host computer receives multi-modal input data and parses；
Control host computer generates multi-modal output data pair to be output based on the multi-modal input data after the parsing
The slave computer answered executes instruction, and the slave computer is executed instruction and is saved in instruction set；
Control host computer recalls slave computer from described instruction concentration one by one and executes instruction and export to slave computer；
Control slave computer executes the slave computer and executes instruction the multi-modal output of progress.
In one embodiment, the method also includes:
Slave computer is controlled after receiving every slave computer and executing instruction, carries out instruction correctness judgment；
After determining that the slave computer received executes instruction correctly, transmission instruction correctly feeds back to upper control slave computer
Machine；
Control host computer is correctly fed back after sending every slave computer and executing instruction until receiving described instruction, then will
This slave computer is executed instruction to concentrate from described instruction and be deleted, and continues to recall a slave computer from described instruction concentration and execute to refer to
Enable output to slave computer.
In one embodiment, control host computer recalls slave computer from described instruction concentration one by one and executes instruction and export under
Position machine, wherein the independent instruction of starting calls thread to execute the operation concentrated from described instruction and recall instruction one by one；
When described instruction collection is that empty seasonal described instruction calls thread to enter sleep state；
It calls thread to enter sleep state when described instruction and wakes up described instruction calling line after preset specific duration
Journey.
In one embodiment, the control host computer recalls slave computer from described instruction concentration one by one and executes instruction and export
To slave computer, in which:
The instruction that described instruction is concentrated is by the Sequential output of first in first out to slave computer.
In one embodiment, the communication between the host computer and slave computer is executed based on Modbus agreement.
The invention also provides a kind of robot, the robot includes host computer and slave computer, and the robot is also
Include:
The input data parsing module in the host computer is constructed, is configured to receive multi-modal input data and solve
Analysis；
The slave computer directive generation module in the host computer is constructed, it is multi-modal after being configured to the parsing
Input data generates the corresponding slave computer of multi-modal output data to be output and executes instruction；
Instruction preserving module in the host computer is constructed, is configured to save the slave computer and executes instruction；
The command output module in the host computer is constructed, is configured to recall one by one from described instruction preserving module
Slave computer is executed instruction and is exported to the slave computer；
Construct command execution unit in the slave computer, be configured to execute the slave computer execute instruction carry out it is more
Mode output.
In one embodiment:
Described instruction executing agency includes command verification unit, is configured to after receiving every slave computer and executing instruction
Instruction correctness judgment is carried out, and sends instruction after determining that the slave computer received executes instruction correctly and correctly feeds back to institute
State host computer；
Described instruction output module is configured to after sending every slave computer and executing instruction, until receiving described instruction just
Really feedback, then this slave computer is executed instruction and is deleted from described instruction preserving module, and continues to save mould from described instruction
A slave computer is recalled in block executes instruction output to slave computer.
In one embodiment, described instruction output module is configured to start independent instruction calling thread execution from the finger
Enable the operation for recalling instruction in preserving module one by one, in which:
When described instruction preserving module is that empty seasonal described instruction calls thread to enter sleep state；
It calls thread to enter sleep state when described instruction and wakes up described instruction calling line after preset specific duration
Journey.
In one embodiment, described instruction output module is configured to the instruction in described instruction preserving module by advanced elder generation
Sequential output out is to slave computer.
In one embodiment, the communication between the host computer and the slave computer is executed based on Modbus agreement.
Method according to the invention it is possible to guarantee that robot host computer slave computer generated executes instruction orderly transmission
It is executed to slave computer, to greatly improve the operational reliability of robot, guarantees the correctness of robot output, maintaining robot
User experience.
Other feature or advantage of the invention will illustrate in the following description.Also, Partial Feature of the invention or
Advantage will be become apparent by specification, or be appreciated that by implementing the present invention.The purpose of the present invention and part
Advantage can be realized or be obtained by step specifically noted in the specification, claims and drawings.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example and is used together to explain the present invention, be not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is method flow diagram according to an embodiment of the invention；
Fig. 2~Fig. 5 is partial process view according to the method for the embodiment of the present invention；
Fig. 6 and Fig. 7 is robot system architecture's schematic diagram according to an embodiment of the present invention.
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, implementation personnel of the invention whereby
Can fully understand that how the invention applies technical means to solve technical problems, and reach technical effect realization process and according to
The present invention is embodied according to above-mentioned realization process.As long as each embodiment it should be noted that do not constitute conflict, in the present invention
And each feature in each embodiment can be combined with each other, be formed by technical solution protection scope of the present invention it
It is interior.
With the continuous upgrading of robot system processing capacity, during the realization of certain more complex functional applications,
The execution movement that robot faces is more, is difficult the coherent execution for realizing each movement, this has just eventually led to machine
People's application function cannot be realized perfectly, to leverage user experience.
In view of the above-mentioned problems, the invention proposes a kind of command processing methods for robot.Implement in the present invention one
It is not at once directly to send the instruction to after the host computer of robot generates the instruction for needing slave computer to execute in example
Slave computer executes, but now the instruction is saved in instruction set, then sequentially sends slave computer for the instruction in instruction set
Instruction.When existing concurrently with multiple slave computer instructions needed to be implemented in this way, would not occur making due to instruct while sending
At command communication congestion and slave computer instruction execution it is chaotic.To ensure that the perfect of robot slave computer output executes,
Substantially increase the user experience of robot.
Specifically, in an embodiment of the present invention, based on for industry spot between the upper and lower computer of robot system
Bus protocol (Modbus agreement) is communicated.
Next based on attached drawing detailed description detailed process according to the method for the embodiment of the present invention, in the flow chart of attached drawing
The step of showing can execute in the computer system comprising such as a group of computer-executable instructions.Although in flow charts
The logical order of each step is shown, but in some cases, it can be to be different from shown by sequence execution herein or retouch
The step of stating.
As shown in Figure 1, in one embodiment, robot control host computer receives multi-modal input data (step first
S100)；Then control host computer parses the multi-modal input data (step S110) received；Then control host computer is based on solution
Multi-modal input data after analysis generates the corresponding slave computer of multi-modal output data to be output and executes instruction (step S120),
And the slave computer of generation is executed instruction and is saved in instruction set (step S130)；Next, control host computer is from instruction set
Slave computer is recalled one by one execute instruction and export give slave computer (step S140)；Finally control slave computer executes slave computer execution and refers to
It enables and carries out multi-modal output.
By taking a specific application scenarios as an example, it is assumed that robot needs slave computer in response to the current data that interactively enter
It executes slave computer and executes instruction A, B, C.In the prior art, when to execute instruction A, B, C (or shorter at one simultaneously for slave computer
It in time successively) generates and is output to slave computer simultaneously (or within a short period successively), be bound to cause communication traffic (one
As, the communication channel between upper and lower computer only support simultaneous transmission one instruction), and cause slave computer execute confusion (under
Position machine receives multiple instructions to be performed simultaneously, not can confirm which this first carries out).And in one embodiment of the invention
In, it is first saved into instruction set (A, B, C) when host computer generates after slave computer executes instruction A, B, C, it then will be in instruction set
Instruction successively recall and export to slave computer, that is to say, that slave computer can be sequentially received instruction A, B, C (every time one finger
It enables).In this way, not only avoiding the congestion of instruction transmission, and it is chaotic to avoid slave computer instruction execution.
Method according to the invention it is possible to which guaranteeing that host computer slave computer generated executes instruction orderly is sent to bottom
Machine executes, to greatly improve the operational reliability of robot, guarantees the correctness of robot output, the user of maintaining robot
Experience.
Further, in step S140, host computer recalled one by one from instruction set slave computer execute instruction and export to
Slave computer, specifically, in one embodiment, the instruction in instruction set is by the Sequential output of first in first out to slave computer.For example, such as
Fruit host computer sequentially generates slave computer according to the sequence of A, B, C and executes instruction A, B, C, then slave computer is executed instruction A, B, C
After being saved in instruction set, successively calls and export according to the sequence of A, B, C.If host computer is successively given birth to according to the sequence of A, C, B
A, C, B are executed instruction at slave computer, then slave computer is executed instruction after A, C, B be saved in instruction set, according to the suitable of A, C, B
Sequence is successively called and is exported.
In the embodiment shown in fig. 1, in step S140, host computer recalls slave computer one by one from instruction set and executes instruction
And export to slave computer, in the process, in the case where mistake occurs in the output that a certain slave computer executes instruction, if continued
It is executed instruction according to the lower slave computer of original Sequential output, then the multi-modal output of slave computer entirety certainly will be influenced whether.
For example, it is A, B, C that normal instruction, which sends execution sequence,.If mistake occurs in the output of instruction B, practical upper and lower computer is connect
The instruction received is just A, B1, C (B1 is false command).In this way, the missing for not only causing the output needed to be implemented (is held less
Gone instruction B), but also will cause slave computer instruction execution it is chaotic (false command B1 can not execute or implementing result is mixed
Normal output result certainly will disorderly be upset).
In view of the above-mentioned problems, in one embodiment, the method fed back using slave computer command verification.Specifically, control
Slave computer carries out instruction correctness judgment after receiving every slave computer and executing instruction；Control slave computer is received in determination
Slave computer execute instruction it is correct after, send instruction and correctly feed back to host computer；Control host computer is held in every slave computer of transmission
It after row instruction, is correctly fed back until receiving described instruction, then this slave computer is executed instruction to concentrate from described instruction and is deleted,
And continuation recalls a slave computer from described instruction concentration and executes instruction output to slave computer.
Specifically, as shown in Fig. 2, in one embodiment, host computer recalls first slave computer execution from instruction set and refers to
It enables (output order is executed instruction near preceding slave computer) and is output to slave computer (step S200)；Slave computer receives the instruction
Afterwards, it first verifies that the instruction (step S210), judges whether the instruction is correct (step S220).
If it is correctly, just to send the correct feedback of instruction and arrive that the slave computer that slave computer judgement receives, which executes instruction,
Host computer (step S230).Host computer, which receives, to be deleted first slave computer from instruction set after the correct feedback of instruction and executes instruction
(slave computer exported executes instruction) (step S240)；Then return step S200 calls first current slave computer
It executes instruction (current output order is executed instruction near preceding slave computer) and is output to slave computer.
If the slave computer that receives of slave computer judgement execute instruction be it is wrong, just send instruction errors feedback and arrive
Host computer (step S250).Host computer receives directly return step S200 (skipping step S240) after instruction errors feedback, adjusts
It is executed instruction with first slave computer and is output to slave computer (exporting the instruction exported again).
In this manner it is possible to the instruction that mistake occurs for output be repeated again when instructing output error, to guarantee according to secondary
Sequence correctly exports whole instructions to slave computer.
Further, in certain instruction transmitting scenes, result caused by the output error of instruction is not merely the next
Machine receives the instruction of mistake, it is also possible to which instruction is absolutely not sent to slave computer.For example, normal instruction transmission execution is suitable
Sequence is A, B, C.If mistake occurs in the output of instruction B, the instruction that practical upper and lower computer receives just is A, and (B1 is mistake to C
It accidentally instructs).In this way, not only causing the missing (performing instruction B less) of the output needed to be implemented, but also it will cause slave computer
Instruction execution confusion (missing of instruction execution will necessarily upset normal instruction execution sequence).
For this case, in an embodiment of the present invention, host computer judges in preset duration after output order
Whether whether the instruction of feedback is correct for slave computer, if illustrating that slave computer does not receive instruction (either without feedback
It is correct or wrong).Need to re-start the output of instruction at this time.
Specifically, as shown in figure 3, in one embodiment, the host computer of robot is by first slave computer in instruction set
It executes instruction output and gives slave computer (step S300), be then turned on timing (step S301).
In timing course, judge whether the whether correct feedback result of the output order (step for receiving slave computer feedback
Rapid S310).If be not received by, judge whether current timing result has reached preset duration, if not reaching pre-
If duration, then continue timing and return step S310, continues to determine whether that the output order for receiving slave computer feedback is
No correct feedback result.If current timing result has reached preset duration (after output order in preset duration not
Obtain the feedback of slave computer), then illustrate that slave computer does not receive the instruction that host computer is sent, at this time return step
S300 calls first slave computer to execute instruction and is output to slave computer (exporting the instruction exported again).
In step s310, if whether the output order that host computer has received slave computer feedback correctly feeds back knot
Fruit then stops timing (step S311), and further instruct and whether correctly exported (slave computer feed back be instruction it is correct or
Instruction errors) (step S320).If instruction output is correct, first slave computer is deleted from instruction set and is executed instruction (
The slave computer exported executes instruction) (step S321)；Then return step S300 calls first current slave computer to execute
Instruction (current output order is executed instruction near preceding slave computer) is simultaneously output to slave computer.If instructing output error, directly
Return step S300 is met, first slave computer is called to execute instruction and is output to slave computer is (instruction exported is defeated again
Out).
Further, in certain instruction execution scenes, the speed that slave computer executes instruction is far smaller than host computer generation
And export the speed of new command.This slave computer that will lead to largely have not carried out, which executes instruction, to be deposited at slave computer, thus
It causes the instruction at slave computer to accumulate, influences going on smoothly for slave computer instruction.
For above situation, in one embodiment, before sending slave computer and executing instruction, host computer first determines whether bottom
First slave computer in instruction set only can just be executed instruction transmission when slave computer state is idle by the current state of machine
To slave computer.
As shown in figure 4, in one embodiment, the host computer of robot executes instruction first slave computer in instruction set
It exports and gives slave computer (step S400), then judge whether current instruction output is successful (correct) (step S410).Specifically
, in step S410, judge slave computer whether have received instruction (whether having the feedback of slave computer in preset duration) with
And whether the instruction that slave computer receives is correct (information of slave computer feedback is to instruct correct or instruction errors).Work as host computer
When judging present instruction output error, direct return step S300 calls first slave computer to execute instruction and be output to down
Position machine (exporting the instruction exported again).
When host computer judges that present instruction output is correct, first slave computer is deleted from instruction set and is executed instruction (
The slave computer exported executes instruction) (step S420)；Whether then judge whether slave computer is in idle condition (can receive
New slave computer executes instruction) (step S430).If slave computer is in idle condition, return step S400 is called current
First slave computer execute instruction (current output order execute instruction near preceding slave computer) and be output to slave computer.If
Slave computer is not at idle state, then is waited (specifically, in the present embodiment, host computer waits a preset fixation
Duration), and return step S430, continuation judge whether slave computer is in idle condition again.
Further, in an embodiment of the present invention, upper in order to guarantee that the instruction output of host computer can be gone on smoothly
Machine starts independent instruction and thread is called to execute the operation for recalling instruction one by one from instruction set.In this way, the generation that will just instruct
Process and the transmission process of instruction are independent each other.The generating process of call instruction is set not affect the transmission of instruction, and
When there is a large amount of instruction to generate simultaneously (or in the short time), the feelings that instruction sends accumulation and command communication blocking will not occur
Condition.
Specifically, as shown in figure 5, in one embodiment, host computer first determines whether the instruction that storage slave computer executes instruction
Whether collection is empty (step S500), if being not sky, i.e., explanation executes there is currently the slave computer for needing to be sent to slave computer and refers to
It enables, calls first slave computer in thread dispatching instruction set to execute instruction and be sent to slave computer (step using instruction at this time
S550)。
If instruction set is sky, illustrate to execute instruction currently without the slave computer for needing to be sent to slave computer, this season
Instruction calls thread to enter sleep state to reduce system resources consumption (step S510).
In order to avoid instruction calls thread to cross the transmission for being in sleep state for a long time and omitting instruction, in an embodiment
In, it calls thread to enter sleep state wake up instruction after preset specific duration when instruction and calls thread.Specifically, referring to
It enables and thread is called to start simultaneously at timing (step S520) into dormant, and judge whether timing reaches preset duration (step
Rapid S530).If not reaching preset duration, continue the sleep state that thread is called in instruction, continues timing.If reaching pre-
If duration, then wake up instruction calls thread (step S540), return step S500, judges whether current instruction set is empty.
To sum up, method according to the invention it is possible to guarantee that host computer slave computer generated executes instruction orderly transmission
To slave computer execute, avoid instruction accumulation, instruction errors and instruction lose and so on.To greatly improve robot
The accuracy of slave computer instruction execution improves the operational reliability of robot, guarantees the correctness of robot output, machine maintenance
The user experience of people.
Based on method of the invention, the invention also provides a kind of robots.As shown in fig. 6, in one embodiment, machine
People includes host computer 601 and slave computer 602, robot further include:
The input data parsing module 610 in host computer 601 is constructed, is configured to receive multi-modal input data and solve
Analysis；
The slave computer directive generation module 620 in host computer 601 is constructed, input data parsing module is configured to
Multi-modal input data after 610 parsings generates the corresponding slave computer of multi-modal output data to be output and executes instruction；
The instruction preserving module 630 in host computer 601 is constructed, is configured to save slave computer directive generation module 620
The slave computer of generation executes instruction；
The command output module 640 in host computer 601 is constructed, is configured to adjust one by one from instruction preserving module 630
Slave computer is executed instruction and is exported to slave computer 602 out；
Construct command execution unit in slave computer 602, be configured to execute the slave computer received execute instruction into
The multi-modal output of row.
Specifically, in one embodiment, command output module 640 be configured to will to instruct the instruction in preserving module 630 by
The Sequential output of first in first out is to slave computer 602.
Further, in one embodiment, the communication between host computer 601 and slave computer 602 is held based on Modbus agreement
Row.
Further, in one embodiment, the command execution unit on slave computer includes command verification unit, is configured to
Instruction correctness judgment is carried out after receiving every slave computer and executing instruction, and is referred to determining that the slave computer received executes
Correct rear transmission instruction is enabled correctly to feed back to the host computer；Corresponding, the command output module on host computer is configured to sending out
After sending every slave computer to execute instruction, until receiving the correct feedback of instruction, then this slave computer is executed instruction from the finger
It enables in preserving module and deleting, and continuation recalls a slave computer from instruction preserving module and executes instruction output to slave computer.
As shown in fig. 7, in one embodiment, input data parsing module 710 is configured in host computer 701, slave computer refers to
Enable generation module 720, instruction preserving module 730 and command output module 740.
Input data parsing module 710 receives multi-modal input data and parses；720 base of slave computer directive generation module
In input data parsing module 710 parsing after multi-modal input data generate multi-modal output data to be output it is corresponding under
Position machine executes instruction；Instruction preserving module 730 saves the slave computer that slave computer directive generation module 720 generates and executes instruction；Refer to
It enables output module 740 recall slave computer one by one from instruction preserving module 730 to execute instruction and export to slave computer 702.
Command execution unit 750 is configured in slave computer 702, command verification unit 751 is received in command execution unit 750
Instruction correctness judgment is carried out after executing instruction to every slave computer, and is executed instruction correctly in the determining slave computer received
The command output module 740 that instruction correctly feeds back to host computer 701 is sent afterwards.Corresponding, command output module 740 is being sent often
After slave computer executes instruction, correct feedback is instructed from command verification unit 751 until receiving, then this slave computer is held
Row instruction is deleted from instruction preserving module 730, and continuation recalls a slave computer from instruction preserving module 730 and executes instruction
It exports to slave computer 702.
Further, in one embodiment, command output module be configured to start independent instruction call thread execute from
The operation of instruction is recalled in instruction preserving module one by one, in which:
When instruction preserving module is that empty season instruction calls thread to enter sleep state；
It calls thread to enter sleep state wake up instruction after preset specific duration when instruction and calls thread.
While it is disclosed that embodiment content as above but described only to facilitate understanding the present invention and adopting
Embodiment is not intended to limit the invention.Method of the present invention can also have other various embodiments.Without departing substantially from
In the case where essence of the present invention, those skilled in the art make various corresponding changes or change in accordance with the present invention
Shape, but these corresponding changes or deformation all should belong to scope of protection of the claims of the invention.
Claims (8)
1. a kind of command processing method for robot, which is characterized in that the described method includes:
Control host computer receives multi-modal input data and parses；
Controlling host computer, based on the multi-modal input data after the parsing to generate multi-modal output data to be output corresponding
Slave computer executes instruction, and the slave computer is executed instruction and is saved in instruction set；
Control host computer recalls slave computer from described instruction concentration one by one and executes instruction and export to slave computer, wherein includes: control
Slave computer processed carries out instruction correctness judgment after receiving every slave computer and executing instruction；
Control slave computer determine the slave computer that receives execute instruction whether it is correct after, send the knot whether instruction correctly feeds back
Fruit is to host computer；
Control host computer judges that described instruction whether is received in preset duration is after sending every slave computer and executing instruction
The no result correctly fed back, wherein
If received in the preset duration instruction correctly feed back as a result, if this has been exported slave computer execution refer to
It enables concentrating from described instruction and delete, further judge whether slave computer is in idle condition, if be in idle condition, from
Described instruction concentration recall current first slave computer execute instruction output to slave computer, if being not at idle state,
It waits and continues to judge whether slave computer is in idle condition；
If being received in the preset duration that instruction errors are fed back as a result, being not received by preset duration described
It is that whether instruction correctly feeds back to be executed instruction as a result, then calling and currently exporting order near preceding slave computer, to drive slave computer
The instruction exported is exported again；
Control slave computer executes the slave computer and executes instruction the multi-modal output of progress.
2. the method according to claim 1, wherein control host computer recalls bottom from described instruction concentration one by one
Machine is executed instruction and is exported to slave computer, wherein the independent instruction of starting is called thread to execute and adjusted one by one from described instruction concentration
The operation instructed out；
When described instruction collection is that empty seasonal described instruction calls thread to enter sleep state；
It calls thread to enter sleep state when described instruction and wakes up described instruction calling thread after preset specific duration.
3. the method according to claim 1, wherein the control host computer recalls one by one from described instruction concentration
Slave computer is executed instruction and is exported to slave computer, in which:
The instruction that described instruction is concentrated is by the Sequential output of first in first out to slave computer.
4. the method according to claim 1, wherein the communication between the host computer and slave computer is based on
Modbus agreement executes.
5. a kind of robot, which is characterized in that the robot includes host computer and slave computer, the robot further include:
The input data parsing module in the host computer is constructed, is configured to receive multi-modal input data and parse；
Construct the slave computer directive generation module in the host computer, the multi-modal input after being configured to the parsing
Data generate the corresponding slave computer of multi-modal output data to be output and execute instruction；
Instruction preserving module in the host computer is constructed, is configured to save the slave computer and executes instruction；
The command output module in the host computer is constructed, is configured to recall bottom one by one from described instruction preserving module
Machine is executed instruction and is exported to the slave computer；
Construct command execution unit in the slave computer, be configured to execute the slave computer execute instruction carry out it is multi-modal
Output, wherein the robot further include: described instruction executing agency includes command verification unit, is configured to receiving
Every slave computer carries out instruction correctness judgment after executing instruction, and is determining whether just the slave computer received executes instruction
After really, sends and instruct the result whether correctly fed back to the host computer；
Described instruction output module is configured to after sending every slave computer and executing instruction, and judges whether receive in preset duration
The result whether correctly fed back to described instruction, wherein
If received in the preset duration instruction correctly feed back as a result, if this has been exported slave computer execution refer to
Order is deleted from described instruction preserving module, further judges whether slave computer is in idle condition, if be in idle condition,
Current first slave computer is so recalled from described instruction preserving module executes instruction output to slave computer, if being not at sky
Not busy state, then waiting and continuing to judge whether slave computer is in idle condition；
If being received in the preset duration that instruction errors are fed back as a result, being not received by preset duration described
It is that whether instruction correctly feeds back to be executed instruction as a result, then calling and currently exporting order near preceding slave computer, to drive slave computer
The instruction exported is exported again.
6. robot according to claim 5, which is characterized in that described instruction output module is configured to start independent finger
It enables and thread is called to execute the operation for recalling instruction one by one from described instruction preserving module, in which:
When described instruction preserving module is that empty seasonal described instruction calls thread to enter sleep state；
It calls thread to enter sleep state when described instruction and wakes up described instruction calling thread after preset specific duration.
7. robot according to claim 5, which is characterized in that described instruction output module is configured to protect described instruction
Instruction in storing module is by the Sequential output of first in first out to slave computer.
8. robot according to claim 5, which is characterized in that the communication base between the host computer and the slave computer
It is executed in Modbus agreement.
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| CN201611241759.4A CN106625674B (en) | 2016-12-29 | 2016-12-29 | A kind of command processing method and robot for robot |
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| CN201611241759.4A CN106625674B (en) | 2016-12-29 | 2016-12-29 | A kind of command processing method and robot for robot |
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|---|---|---|---|---|
| CN109421041B (en) * | 2017-08-21 | 2021-05-11 | 深圳市优必选科技有限公司 | Robot motion control method, robot and device with storage function |
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