CN113001529A - Robot, robot control method, and readable storage medium - Google Patents

Abstract

The application provides a robot, a robot control method, and a readable storage medium. The robot includes a moving part, a plurality of motors, a plurality of drive controllers, an address setting circuit, and a main controller. Each motor is used for driving at least one moving part of the robot to move; each driving controller is connected with at least one motor and is used for controlling the connected motor to work; the address setting circuit is used for setting the address identification of each drive controller, and the address identifications of different drive controllers are different; each driving controller is respectively connected with an address setting circuit to obtain a corresponding address identifier; and the main controller is connected with the plurality of driving controllers and is used for sending messages carrying target address identifiers to each driving controller, so that each driving controller analyzes the messages, and when the analyzed target address identifiers exist in the determined address identifiers consistent with the address identifiers acquired from the address setting circuit, the connected motors are controlled to work according to the messages. The user experience is better.

Description

Robot, robot control method, and readable storage medium

Technical Field

The present invention relates to the field of artificial intelligence, and in particular, to a robot, a robot control method, and a readable storage medium.

Background

For programmable building block robots, it is common to use a coding motor to move an execution module (e.g., each building block) to make the building block robot perform various actions or change shapes. Different execution modules can be connected with different coding motors. According to the actions to be executed by the building block robot, different coding motors can drive the connected execution modules to respectively perform different motions (for example, part of the coding motors can control the connected execution modules to move upwards, and part of the coding motors can control the connected execution modules to move leftwards), so that the building block robot can execute the required actions. Generally, the more execution modules of a building block robot, the more actions that can be performed or the more shapes that can be transformed. The robot has the problem that the use of a user is inconvenient at present, and the experience of the user needs to be improved.

Disclosure of Invention

The application provides an improved robot, a robot control method and a readable storage medium, which can improve the experience of users.

The application provides a robot, the robot includes:

a moving part;

a plurality of motors, each motor for driving at least one of the moving parts of the robot to move;

the drive controllers are connected with at least one motor and used for controlling the connected motors to work;

an address setting circuit for setting an address identifier of each of the drive controllers, the address identifiers of different drive controllers being different; each driving controller is respectively connected with the address setting circuit to obtain the corresponding address identification;

and the main controller is connected with the plurality of driving controllers and is used for sending a message carrying a target address identifier to each driving controller, so that each driving controller analyzes the message, and when the analyzed target address identifier is determined to have an address identifier consistent with the address identifier acquired from the address setting circuit, the main controller controls the connected motor to work according to the message.

The application provides a robot control method, which comprises the following steps:

the method comprises the following steps that a driving controller of the robot acquires a corresponding address identifier from an address setting circuit of the robot, wherein the address setting circuit is used for setting the address identifier of the driving controller, and the corresponding address identifiers of different driving controllers are different;

and when the driving controller receives a message which is sent by a main controller of the robot and carries a target address identifier, analyzing the message, and if an address identifier which is consistent with the address identifier obtained from the address setting circuit exists in the analyzed target address identifier, controlling a connected motor to work according to the message.

The present application provides a robot comprising one or more processors for implementing a robot control method as described above.

The present application provides a readable storage medium having stored thereon a program which, when executed by a processor, implements a robot control method as described above.

In some embodiments of the present application, the robot includes an address setting circuit. The address setting circuit may be used to set the address identification of each drive controller. The address identifier of each drive controller may be set to the corresponding drive controller without being fixed. The user can set the address identification of each drive controller through the address setting circuit, and the user use is more convenient, and experience sense is better.

Drawings

FIG. 1 is a schematic view of a robot provided by an embodiment of the present application;

FIG. 2 is a schematic view of a robot provided by another embodiment of the present application;

FIG. 3 is a schematic view of a robot provided by another embodiment of the present application;

FIG. 4 is a flow chart of a robot control method provided by an embodiment of the present application;

fig. 5 is a block diagram of a robot according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with one or more embodiments of the present specification. Rather, they are merely examples of apparatus and methods consistent with certain aspects of one or more embodiments of the specification, as detailed in the claims which follow.

It should be noted that: in other embodiments, the steps of the corresponding methods are not necessarily performed in the order shown and described herein. In some other embodiments, the method may include more or fewer steps than those described herein. Moreover, a single step described in this specification may be broken down into multiple steps for description in other embodiments; multiple steps described in this specification may be combined into a single step in other embodiments.

Fig. 1 is a schematic diagram of a robot 100 provided in an embodiment of the present application.

Referring to fig. 1, a robot 100 includes a moving part 11, a plurality of motors 12, a plurality of drive controllers 13, an address setting circuit 14, and a main controller 15. Each motor 12 is used for driving at least one moving part 11 of the robot 100 to move. In some embodiments, the motors 12 are connected to the moving members 11 in a one-to-one correspondence, and each motor 12 is used for driving the corresponding moving member 11 to move. At the same time, different motors 12 may drive different moving parts 11 of the robot 100 to perform different motions, so that the robot 100 performs a specific motion or transforms a specific shape. For example, at the time t0, part of the motors 12 of the robot 100 may drive the corresponding moving part 11 to move forward, and another part of the motors 12 may not drive the corresponding moving part 11 to move, so as to realize the forward stepping of the robot 100. At different times, the same motor 12 can drive the same moving part 11 of the robot 100 to perform different motions, so that the robot 100 can perform different actions or change different shapes. For example, at time 1, for one of the motors 12, its corresponding moving part 11 may be driven to move forward to implement forward stepping of the robot 100; at time t2, the motor 12 may drive the corresponding moving member 11 to move backward to realize backward stepping of the robot 100.

In the present embodiment, the robot 100 includes a building block robot, and the moving part 11 includes a building block of the robot 100. Each motor 12 is connected to at least one building block for driving the movement of the connected building block, so that the building block robot can perform different actions or change different shapes. In some embodiments, the moving parts 11 may also comprise non-building parts provided on the building robot, such as pulleys or the like provided on the building robot.

In some embodiments, the motor 12 comprises a coded motor. The coding motor can feed back signals representing working information such as rotating speed, position and the like, and the coding motor can be effectively controlled according to the fed back signals.

In some embodiments, each drive controller 13 is connected to at least one electric motor 12 for controlling the operation of the connected electric motor 12. Each drive controller 13 may control the duration, speed, direction of rotation, etc. of the connected electric motor 12. By controlling the operation of the connected motor 12, the drive controller 13 can control the movement (e.g., the movement direction, the movement speed) of the moving member 11 to which the motor 12 is connected, and thus can control the motion or shape of the robot 100.

In some embodiments, at least some of the drive controllers 13 each include a plurality of drive control terminals 131, each of the plurality of drive control terminals 131 for connecting to a different motor 12. The drive controller 13 can control the motor 12 connected to each drive control terminal 131 through each drive control terminal 131. In some embodiments, different drive control terminals 131 of the drive controller 13 may control the connected motors 12 differently depending on the actions the robot 100 is required to perform or the shape needs to be changed. For example, it is assumed that one drive controller 13 includes N drive control terminals 131, and each drive control terminal 131 is connected to a different motor 12. At the same time, the first driving control terminal 131 of the driving controller 13 can control the connected motor 12 to rotate in the forward direction, and the second driving control terminal 131 can control the connected motor 12 to rotate in the reverse direction, so that different motion controls can be performed on the moving part 11 connected to different motors 12.

In some embodiments, a portion of the drive control end 131 of the drive controller 13 may have the same control over the connected motor 12 depending on the action that the robot 100 is required to perform or the shape that needs to be changed.

In the present embodiment, each drive controller 13 includes four drive control terminals 131. Four motors 12 may be connected to each drive controller 13. Each motor 12 is connected to one moving part 11. In this way, each of the drive controllers 13 can individually perform motion control of the four moving members 11 by controlling the motor 12.

In some embodiments, the number of motors 12 required by the robot 100, and thus the number of drive controllers 13 required by the robot 100, may be determined according to the number of moving parts 11 of the robot 100.

In some embodiments, the main controller 15 is connected to a plurality of driving controllers 13, and is configured to send messages carrying control information to the driving controllers 13. The control information may include information that controls the rotational speed, rotational direction, etc. of the motor 12. The driving controller 13 can correspondingly control the motor 12 connected to each driving control terminal 131 according to the received message. In the present embodiment, a plurality of drive controllers 13 are connected in series to the main controller 15. The main controller 15 is connected in serial communication with the plurality of drive controllers 13. Each drive controller 13 may have a corresponding address identification. Each address identification is used to identify the corresponding drive controller 13. The address identities of different drive controllers 13 are different. The main controller 15 may send a message carrying a destination address identifier to each driving controller 13, so that each driving controller 13 parses the message, and when it is determined that an address identifier consistent with the corresponding address identifier exists in the parsed address identifier, the connected motor 12 may be controlled to operate according to the message (for example, information for controlling the rotation speed, the rotation direction, and the like of the motor 12 in the message). The target address identification may include an address identification of part or all of the drive controller 13 of the robot 100. In some embodiments, if the driving controller 13 parses the packet and determines that there is no address identifier in the parsed address identifier that is consistent with the corresponding address identifier, the connected motor 12 is not controlled to operate.

In some embodiments, the drive control terminal 131 of each drive controller 13 may have a corresponding port number. The port numbers of different drive control terminals 131 may be different for the same drive controller 13. The port numbers of the drive control terminals 131 of different drive controllers 13 may be the same for different drive controllers 13. For example, suppose that one of the driving controllers 13 includes four driving control terminals 131, and the port numbers of the four driving control terminals 131 of the driving controller 13 are different, and are respectively A, B, C, D; another drive controller 131 different from the drive controller 131 may also include four drive control terminals 131, and the port numbers of the four drive control terminals 131 may also be A, B, C, D respectively. The destination address identifier in the message sent to each drive controller 13 by the main controller 15 according to the motor 12 to be controlled may include an address identifier of the drive controller 13 connected to the motor 12, and at the same time, the message may also include a port number of the drive control terminal 131 connected to the motor 12. After each driving controller 13 receives the message, it parses the message, and after it is determined that there is an address identifier consistent with its corresponding address identifier in the parsed destination address identifier, it controls the motor 12 connected to the corresponding driving control terminal 131 to work according to the port number of the driving control terminal 131 corresponding to the address identifier in the message and the control information for the motor 12 in the message. For example, assuming that the port numbers of the driving control terminals 131 included in one driving controller 13 are A, B, C, D, after the driving controller 13 parses the message, if it is determined that the parsed destination address identifier includes an address identifier consistent with the corresponding address identifier, and the port number of the driving control terminal 131 corresponding to the address identifier in the message is C, D, the driving controller 13 controls the motor 12 connected to the corresponding driving control terminal 131 (i.e., the driving control terminal 131 with the port number of C, D) to operate.

In some embodiments, the master controller 15 includes a control message receiving end 151, and the control message receiving end 151 is connected to the upper computer 16 for receiving control information for controlling the robot 100 to send a message to the driving controller 13 according to the control information. The control information for controlling the robot 100 may include control information for controlling the motor 12 of the robot 100. In some embodiments, the user may determine the motors 12 that the robot 100 needs to work, and control information (e.g., the rotation speed, rotation direction, etc. of each motor 12) for controlling each motor 12 that needs to work, according to the actions that the robot 100 needs to perform or the shape that needs to be transformed. According to the motor 12 which needs to work, a user can set the address identification of the driving controller 13 corresponding to the motor 12, the port number of the driving control end 131 and the control information of each motor 12 through the upper computer 16. The upper computer 16 may send the address identifier of the driving controller 13, the port number of the driving control terminal 131, and the control information of each motor 12 to the main controller 15, so that the main controller 15 generates and sends a message to the driving controller 13 according to the received information, and the driving controller 13 controls the motor 12 that needs to work according to the message.

In some embodiments, the address setting circuit 14 may be used to set the address identification of each drive controller 13. The address setting circuit 14 may be used to initialize or modify the address identification of each drive controller 13. In some embodiments, address setting circuitry 14 may be used to give the user operation. The address identification of each drive controller 13 can be set by the user by operating the address setting circuit 14. In the process of using the robot 100, a user may determine the motors 12 that the robot 100 needs to operate and control information (for example, the rotation speed, the rotation direction, and the like of each motor 12) for controlling each motor 12 that needs to operate according to the motion that the robot 100 needs to execute or the shape that needs to be changed, and then set the address identifiers of the drive controllers 13 corresponding to the motors 12, the drive control terminals 131, and the control information of each motor 12 on the upper computer 16 side for the motors 12 that need to operate according to the address identifiers of each drive controller 13 set on the address setting circuit 14 side. Each drive controller 13 is connected to the address setting circuit 14, and can acquire a corresponding address identifier. Thus, the upper computer 16 sends the address identifier of the driving controller 13 to the main controller 15, and after the main controller 15 sends a message to the driving controller 13 according to the received address identifier, each driving controller 13 parses the message received from the main controller 15 side, and when it is determined that an address identifier identical to the address identifier acquired from the address setting circuit 14 exists in the parsed address identifier, the connected motor 12 can be controlled to operate according to the message.

In some embodiments of the present application, the robot 100 includes a moving part 11, a plurality of motors 12, a plurality of drive controllers 13, a main controller 15, and an address setting circuit 14. The address setting circuit 14 may be used to set the address identification of each drive controller 13. Each drive controller 13 is connected to the address setting circuit 14, and can acquire a corresponding address identifier. When the main controller 15 sends a message carrying an address identifier to the connected driving controller 13, each driving controller 13 may determine whether to control the connected motor 12 to operate according to the address identifier in the message and the address identifier of each driving controller 13 set on the address setting circuit 14 side. Since the address identification of each drive controller 13 can be set by the address setting circuit 14, the address identification of each drive controller 13 can be set to the corresponding drive controller 13 without being fixed. The user can set the address identifier of each driving controller 13 through the address setting circuit 14 according to actual conditions, so that the use by the user is more convenient, and the experience feeling is better. Compared with the robots without the address setting circuit in some schemes, the robots in the schemes fix the address identifier of each driving controller to each driving controller, and the use by users is inconvenient. For example, in the case where the robot in these schemes is damaged, lost, or the like, assuming that the address of the damaged or lost drive controller is identified as 5 and the user has an idle drive controller with an address of 3 in his hand, if the drive controller with an address of 3 is not included in the drive controllers already used by the robot, the drive controller with an address of 3 may be replaced with the robot (i.e., the address of the damaged or lost drive controller is replaced with 3). However, if the drive controller with the address id 3 is already included in the drive controllers already used by the robot, the idle drive controller with the address id 3 in the hand of the user cannot be replaced with the robot (the address id of the drive controller of the robot may be duplicated, and the robot control may conflict). Generally, a user may send a drive controller with an address identifier solidified to 3 back to a manufacturer, the manufacturer modifies the address identifier of the drive controller to 5 (or another address identifier that is not duplicated with the address identifier of the drive controller used by the robot), and sends the modified drive controller back to the user for replacement of the drive controller, which is troublesome. Or the user may buy a drive controller with address id 5 to replace it (or buy a drive controller with address id different from the address id of the drive controller used by the robot to replace it), which is troublesome and costly. When the robot 100 of the present application is damaged or lost, if there is an idle driving controller 13 in the hand of the user, the damaged or lost driving controller 13 may be directly replaced with the idle driving controller 13, and after the idle driving controller 13 is replaced with the robot 100, the address identifier of the driving controller 13 may be set to 5 by the address setting circuit 14. The user uses comparatively conveniently, has improved user's experience sense greatly.

With continued reference to fig. 1, in the present embodiment, the robot 100 includes a plurality of address setting circuits 14, the address setting circuits 14 are connected to the driving controllers 13 in a one-to-one correspondence, and each address setting circuit 14 is configured to set an address identifier of the corresponding driving controller 13. The user can set the address identification of the corresponding drive controller 13 by operating the address setting circuit 14. In the present embodiment, the address setting circuit 14 may allow the user to set the address identification of the corresponding drive controller 13 by means of a key dial. In other embodiments, the address setting circuit 14 allows the user to input the address identification of the driving controller 13 through a touch screen, a keyboard, voice, and the like. In some embodiments, by providing one address setting circuit 14 for each driving controller 13, each address setting circuit 14 only needs to be used for setting the address identifier of the corresponding driving controller 13, and the design of the address setting circuit 14 can be simpler and can be implemented with high feasibility.

In the present embodiment, the robot 100 includes a plurality of drive circuit boards 17, and each drive controller 13 and the corresponding address setting circuit 14 are provided to one drive circuit board 17. The robot 100 has a high modularization degree, and when any one of the driving controllers 13 or the corresponding address setting circuit 14 fails, only the corresponding driving circuit board 17 needs to be replaced, and the other driving controllers 13 and the address setting circuit 14 can be unaffected, so that the robot is convenient and beneficial to product upgrading and the like. In some embodiments, a plurality of driving controllers 13 and corresponding address setting circuits 14 may be disposed on one driving circuit board 17. For example, the drive controllers 13 and the corresponding address setting circuits 14 corresponding to the adjacent motors 12 can be arranged on one drive circuit board 17, so that the cost can be saved. In some embodiments, one or more driving controllers 13 may be disposed on one driving circuit board 17, and one or more address setting circuits 14 may be disposed on another driving circuit board 17. The circuit design is more flexible.

In some embodiments, at least a portion of the address setting circuits 14 include address encoding devices 141, the address encoding devices 141 of each address setting circuit 14 are connected to a corresponding drive controller 13, and the drive controller 13 is configured to read the encoding of the address encoding devices 141 to determine the address identifier of the drive controller 13. The address encoding device 141 may include a dial switch, among others. The dial switch is a circuit component which is easy to obtain.

Fig. 2 is a schematic diagram of a robot 200 provided in another embodiment of the present application.

The robot 200 shown in fig. 2 is substantially similar to the robot 100 shown in fig. 1, and the main difference is that the robot 200 includes the drive controllers 23, and at least a part of the plurality of drive controllers 23 are connected to the same address setting circuit 24. The address identifiers of the plurality of driving controllers 23 are set by one address setting circuit 24, which is cost-saving.

In some embodiments, the plurality of driving controllers 23 are respectively disposed on the driving circuit boards 27 corresponding to the plurality of driving controllers 23, and the address setting circuit 24 connected to the plurality of driving controllers 23 is disposed outside the driving circuit boards 27 corresponding to the plurality of driving controllers 23. The address setting circuit 24 to which the plurality of drive controllers 23 are connected may be provided on a single circuit board. Thus, the position of the circuit board on which the address setting circuit 24 is located can be flexibly adjusted according to the positional relationship among the plurality of driving controllers 23, which is more flexible. And the address setting circuit 24 is arranged on a single circuit board, so that the modularization degree is high, and the use and the upgrade are convenient. For example, when the address setting circuit 24 has a problem, only the circuit board corresponding to the address setting circuit 24 needs to be replaced, and the circuit board where the other drive controller 23 is located is not affected. In other embodiments, the address setting circuit 24 corresponding to the plurality of driving controllers 23 may also be disposed on one of the driving circuit boards 27 corresponding to the plurality of driving controllers 23, which is beneficial to reducing the cost.

Fig. 3 is a schematic diagram of a robot 300 provided in another embodiment of the present application.

The robot 300 shown in fig. 3 is substantially similar to the robot 100 shown in fig. 1, with the main difference that the robot 300 comprises drive controllers 33, at least part of which drive controllers 33 are connected to different ports of the main controller 35, which different ports of the main controller 35 are connected in series. The different ports of the main controller 35 may refer to a plurality of ports of the main controller 35 for connecting the driving controller 33. The drive controllers 33 connected to different ports of the main controller 35 are connected in series through the ports of the main controller 35. In some embodiments, the main controller 35 includes a plurality of ports for connecting the drive controllers 33, and the manner in which the respective drive controllers 33 are connected to the main controller 35 may be determined based on the position of each drive controller 33. For example, if a certain drive controller 33 is located relatively far from the main controller 35, the drive controller 33 may be connected to the main controller 35 by being connected to the other drive controllers 33 in series. If a drive controller 33 is located closer to the main controller 35, it can be directly connected to a port of the main controller 35. The connection mode is flexible.

Fig. 4 is a flowchart of a robot control method according to an embodiment of the present application. Referring to fig. 4, the robot control method may be applied to the robots 100, 200, and 300, and the robot control method is described as being applied to the robot 100. The robot control method includes steps S41 and S42.

Step S41, the drive controller 13 of the robot 100 obtains a corresponding address identifier from the address setting circuit 14 of the robot 100, where the address setting circuit 14 is used to set the address identifier of the drive controller 13, and the address identifiers corresponding to different drive controllers 13 are different;

in step S42, when the drive controller 13 receives the message carrying the destination address identifier sent by the main controller 15 of the robot 100, the message is analyzed, and if an address identifier that is consistent with the address identifier obtained from the address setting circuit 14 exists in the analyzed destination address identifier, the connected motor 12 is controlled to operate according to the message.

For the principle of the robot control method, reference may be made to the related description of the robots 100, 200, and 300, which is not described herein again.

Fig. 5 is a block diagram of a robot 500 according to an embodiment of the present application.

In some embodiments, the robot 500 includes one or more processors 501 for implementing the robot control methods described above. In some embodiments, the robot 500 may include a readable storage medium 509, which may store a program that may be invoked by the processor 501, which may include a non-volatile storage medium. In some embodiments, robot 500 may include a memory 508 and an interface 507. In some embodiments, robot 500 may also include other hardware depending on the application.

The readable storage medium 509 of the embodiment of the present application stores thereon a program for implementing the robot control method as described above when the program is executed by the processor 501.

This application may take the form of a computer program product embodied on one or more storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having program code embodied therein. Readable storage media include permanent and non-permanent, removable and non-removable media, and information storage may be implemented by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of readable storage media include, but are not limited to: phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technologies, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium, may be used to store information that may be accessed by a computing device.

The above description is only a preferred embodiment of the present disclosure, and should not be taken as limiting the present disclosure, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Claims (13)

1. A robot, characterized in that the robot comprises:

a moving part;

a plurality of motors, each motor for driving at least one of the moving parts of the robot to move;

the drive controllers are connected with at least one motor and used for controlling the connected motors to work;

an address setting circuit for setting an address identifier of each of the drive controllers, the address identifiers of different drive controllers being different; each driving controller is respectively connected with the address setting circuit to obtain the corresponding address identification;

and the main controller is connected with the plurality of driving controllers and is used for sending a message carrying a target address identifier to each driving controller, so that each driving controller analyzes the message, and when the analyzed target address identifier is determined to have an address identifier consistent with the address identifier acquired from the address setting circuit, the main controller controls the connected motor to work according to the message.

2. The robot according to claim 1, wherein said robot includes a plurality of said address setting circuits, said address setting circuits being connected in one-to-one correspondence with said drive controllers, each of said address setting circuits being for setting said address identification of a corresponding said drive controller.

3. The robot of claim 2, wherein at least some of the address setting circuits include address encoding devices, the address encoding device of each of the address setting circuits being coupled to a corresponding one of the drive controllers, the drive controllers being configured to read the encoding of the address encoding devices to determine the address identifier of the drive controller.

4. A robot as claimed in claim 3, wherein the address code device comprises a dial switch.

5. The robot of claim 2, wherein said robot includes a plurality of driver boards, each of said driver controllers and corresponding said address setting circuit being disposed on one of said driver boards.

6. A robot as set forth in claim 1 wherein said plurality of said drive controllers are connected in series to said master controller.

7. A robot as claimed in claim 1, wherein at least some of the drive controllers are connected to different ports of the main controller, the different ports of the main controller being connected in series.

8. A robot as claimed in claim 1, wherein said moving parts comprise bricks, each of said motors being connected to at least one of said bricks for driving the connected bricks in motion.

9. The robot according to claim 1, wherein at least some of the drive controllers each include a plurality of drive control terminals, the plurality of drive control terminals are respectively used to connect to different motors, and the drive controller is configured to control the motor connected to the corresponding drive control terminal to operate according to a port number of the drive control terminal in the message when it is determined that the resolved destination address identifier is consistent with the address identifier acquired from the address setting circuit.

10. The robot of claim 1, wherein the master controller includes a control message receiver connected to the host computer for receiving control information for controlling the robot to send the message to the drive controller according to the control information.

11. A robot control method, characterized by comprising:

the method comprises the following steps that a driving controller of the robot acquires a corresponding address identifier from an address setting circuit of the robot, wherein the address setting circuit is used for setting the address identifier of the driving controller, and the corresponding address identifiers of different driving controllers are different;

and when the driving controller receives a message which is sent by a main controller of the robot and carries a target address identifier, analyzing the message, and if an address identifier which is consistent with the address identifier obtained from the address setting circuit exists in the analyzed target address identifier, controlling a connected motor to work according to the message.

12. A robot comprising one or more processors configured to implement the robot control method of claim 11.

13. A readable storage medium, characterized in that a program is stored thereon, which when executed by a processor, implements the robot control method according to claim 11.

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