WO2021007754A1 - 机器人控制方法、装置及可读存储介质 - Google Patents

机器人控制方法、装置及可读存储介质 Download PDF

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Publication number
WO2021007754A1
WO2021007754A1 PCT/CN2019/096038 CN2019096038W WO2021007754A1 WO 2021007754 A1 WO2021007754 A1 WO 2021007754A1 CN 2019096038 W CN2019096038 W CN 2019096038W WO 2021007754 A1 WO2021007754 A1 WO 2021007754A1
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Prior art keywords
control signal
control
robot
frame structure
status
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PCT/CN2019/096038
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English (en)
French (fr)
Inventor
佟荣磊
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深圳配天智能技术研究院有限公司
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Application filed by 深圳配天智能技术研究院有限公司 filed Critical 深圳配天智能技术研究院有限公司
Priority to PCT/CN2019/096038 priority Critical patent/WO2021007754A1/zh
Priority to CN201980011716.2A priority patent/CN111819039B/zh
Publication of WO2021007754A1 publication Critical patent/WO2021007754A1/zh

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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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • This application relates to the field of robotics, and in particular to a robot control method, device, and readable storage medium.
  • the robot can be used as an actuator, and the upper-level controller completes the control of the robot.
  • This working mode is an external control mode.
  • the type and quantity of data transmission between the robot and the upper-level controller are greatly increased.
  • the I/O interface is used to connect the robot and the upper-level controller to complete the transmission of various data, but this requires a lot of IO
  • the interface and wiring are complicated and occupy a lot of IO resources of the robot system, which reduces the efficiency and real-time performance of robot control.
  • the present application provides a robot control method and device, which can solve the problem that the external control mode occupies a large amount of I/O resources and the configuration is complicated in the prior art.
  • this application provides a robot control method, which includes: using a background channel program to receive a control signal from a higher-level controller; analyzing the control signal to determine the frame structure of the control signal and obtaining the control signal carried Control information; use the background channel program to control the robot according to the control information.
  • analyzing the control signal to determine the frame structure of the control signal and obtaining the control information carried by the control signal includes: comparing the control signal with a preset frame structure to determine the frame structure of the control signal; reading according to the frame structure of the control signal Control the data in the signal to obtain control information.
  • using the control information to control the robot includes: using a background channel program to set system variables according to the control information to perform the operation indicated by the control information.
  • the operation includes at least one of power-on, power-off, emergency stop, reference point return, fault confirmation, program number, program load, program start, program pause, and program stop.
  • control information is transmitted through the bus.
  • it further includes: obtaining the system state information of the robot; using the system state information to generate a feedback signal, the frame structure of the feedback signal corresponds to the frame structure of the control signal; using the background channel program to send the feedback signal to the upper controller.
  • the system status information includes at least one of drive enable status, drive ready status, emergency stop status, safety door status, reference point status, path motion status, fault status, request program number, and running status.
  • obtaining the system state information of the robot includes: using a background channel program to read the state of the system variables to obtain the system state information.
  • the feedback signal is transmitted through the bus.
  • the present application also provides a robot control method, which includes: generating a control signal, the control signal is used to instruct the robot to perform an operation; sending a control signal to the robot; and receiving a feedback signal from the robot.
  • the device includes a processor, a memory, a transmitter, and a receiver.
  • the processor is respectively coupled to the memory, the transmitter, and the receiver.
  • the memory stores instructions, and the transmitter is used to send to other devices.
  • Signal, the receiver is used to receive signals from other devices, and the processor is used to execute instructions to implement any of the methods provided above.
  • the present application also provides a readable storage medium that stores instructions, and when the instructions are executed, any one of the methods provided above is implemented.
  • the beneficial effects of the present application are: different from the prior art, the present application uses a background channel program to receive the control signal from the upper controller; analyzes the control signal to determine the frame structure of the control signal and obtains the control signal bearing Control information; use the control information to control the robot, the control signal is transmitted in the form of frames, the occupied I/O resources are greatly reduced, and the configuration is simple.
  • Fig. 1 is a schematic flowchart of a first embodiment of a robot control method according to the present application
  • FIG. 2 is a schematic flowchart of a second embodiment of a robot control method according to the present application.
  • FIG. 3 is a schematic flowchart of a third embodiment of a robot control method according to the present application.
  • FIG. 4 is a schematic flowchart of a fourth embodiment of a robot control method according to the present application.
  • Fig. 5 is a schematic structural diagram of a first embodiment of a robot control device according to the present application.
  • Fig. 6 is a schematic structural diagram of a first embodiment of a robot-readable storage medium according to the present application.
  • the first embodiment of the robot control method of the present application includes:
  • S11 Use the background channel program to receive the control signal from the upper controller.
  • the execution subject of this embodiment may be a robot or a controller of the robot.
  • the background channel program refers to the program running in the background, which has the characteristics of self-loading, self-starting, and no active stop.
  • the upper-level controller can be an upper computer, a programmable logic controller (Programmable Logic Controller, PLC), control system, etc.
  • the control signal can be transmitted via a bus, which can be a network bus or an industrial bus. Both the upper-level controller and the robot support the transmission protocol used by the bus.
  • S12 Analyze the control signal to determine the frame structure of the control signal and obtain the control information carried by the control signal.
  • a frame may include multiple fields, such as a preamble field, an address field, a data field, a check field, a status field, etc.
  • the frame structure describes which fields are included in a frame, and the location and necessary length information of each field.
  • Control information is used to instruct the robot to perform operations.
  • the control information background channel program can find the operation corresponding to the control information, and control the robot to perform the operation.
  • the background channel program can directly control the robot to perform the operation, or notify other programs/processes, or start a new program/process to control the robot to perform the operation.
  • the operation may include at least one of power-on, power-off, emergency stop, reference point return, fault confirmation, program number, program load, program start, program pause, and program stop.
  • the background channel program is used to receive the control signal from the upper-level controller; the control signal is analyzed to determine the frame structure of the control signal and to obtain the control information carried by the control signal; the control information is used to control the robot,
  • the control signal is transmitted in the form of a frame, the occupied I/O resources are greatly reduced, and the configuration is simple.
  • the second embodiment of the robot control method of this application is based on the first embodiment of the robot control method of this application, and further includes:
  • System status information can be directly read from sensors and/or passed by other processes/programs. System status information is used to indicate the current operating status of the robot.
  • S15 Use system status information to generate a feedback signal.
  • the frame structure of the feedback signal corresponds to the frame structure of the control signal.
  • the feedback signal carries system status information.
  • Feedback information can be transmitted via the bus.
  • the third embodiment of the robot control method of the present application is an extension of the second embodiment of the robot control method of the present application, and the same parts will not be repeated here.
  • This embodiment includes:
  • S120 Compare the control signal with the preset frame structure to determine the frame structure of the control signal.
  • the preset frame structure is pre-appointed and stored by the robot and the host controller.
  • the type of the preset frame structure can be 1, or can be at least two, to correspond to different signal/protocol/bus types respectively. Comparing the control signal with the preset frame structure can determine whether the transmission of the control signal is correct and what the frame structure of the control signal is.
  • Comparing the control signal with the preset frame structure can be to compare the control signal with the complete preset frame structure itself, or it can be to compare the control signal with a characteristic parameter indicating the preset frame structure.
  • the control signal can be intercepted according to the preset field and the intercepted content can be analyzed, the intercepted content and the preset content can be compared, and if they are consistent, the frame structure of the control signal is determined to be the preset frame structure represented by the preset content.
  • analyze the characteristic words of the control signal frame for example, the frame header and the end of the frame
  • determine the type of the frame according to the characteristic words to determine the frame structure of the control signal for example, the frame header and the end of the frame.
  • S130 Read data in the control signal according to the frame structure of the control signal to obtain control information.
  • the data in the control signal (for example, from the data field) can be read, and these data carry control information.
  • the host controller and the robot can pre-appoint and store the operation table required for robot control.
  • Each operation has a corresponding number, and the control information is a number.
  • the data in the control signal can directly or indirectly reflect the number.
  • the robot can query the table to find the corresponding operation.
  • S140 Use the background channel program to set system variables according to the control information to perform the operation indicated by the control information.
  • the background channel program can be used to set system variables according to the control information, thereby notifying other processes that can read the system variables to perform the operations indicated by the control information.
  • S150 Use the background channel program to read the system variable status to obtain system status information.
  • S160 Use the system state information to generate a feedback signal.
  • S170 Use the background channel program to send a feedback signal to the higher-level controller.
  • the fourth embodiment of the robot control method of the present application includes:
  • the execution subject of this embodiment may be an upper-level controller. Control signals are used to instruct the robot to perform operations.
  • the control signal can be transmitted via a bus, which can be a network bus or an industrial bus. Both the upper-level controller and the robot support the transmission protocol used by the bus.
  • the control signal can be transmitted in the form of a frame.
  • S23 Receive feedback signal from the robot.
  • the robot After the robot performs the operation, it obtains the system state information of the robot and generates a feedback signal accordingly. After receiving the feedback signal, the system status of the robot can be confirmed and subsequent operations can be determined accordingly.
  • the first embodiment of the robot control device of the present application includes a processor 110, a memory 120, a transmitter 130, and a receiver 140.
  • the processor 110 is coupled to the memory 120, the transmitter 130 and the receiver 140, respectively.
  • the memory 120 is used to store instructions and data required by the processor 110 to work.
  • the transmitter 130 and the receiver 140 are used to communicate with other devices (for example, an upper-level controller).
  • the transmitter 130 is used to send signals (such as feedback signals) to other devices, and the receiver 140 receives signals (such as control signals) from other devices.
  • the transmitter 130 and the receiver 140 may be integrated together.
  • the processor 110 controls the operation of the robot control device, and the processor 110 may also be referred to as a CPU (Central Processing Unit, central processing unit).
  • the processor 110 may be an integrated circuit chip with signal processing capabilities.
  • the processor 110 may also be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component .
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the processor 110 is configured to execute instructions stored in the memory 120 to implement the method provided by any embodiment and non-conflicting combination of the robot control method of the present application.
  • the first embodiment of the readable storage medium of the present application includes: a memory 210.
  • the memory 210 stores instructions, and when the instructions are executed, the method provided by any embodiment and non-conflicting combination of the robot control method of the present application is implemented.
  • the memory 210 may include a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a flash memory (Flash Memory), a hard disk, an optical disk, and the like.
  • ROM read-only memory
  • RAM random access memory
  • flash Memory flash memory

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

公开了一种机器人控制方法及控制系统，该方法包括：利用后台通道程序接收来自于上级控制器的控制信号（S11）；对控制信号进行解析以确定控制信号的帧结构并获取控制信号承载的控制信息（S12）；利用后台通道程序按照控制信息对机器人进行控制（S13）。这种方法能够减少占用的I/O资源，配置简单。

Description

机器人控制方法、装置及可读存储介质
【技术领域】
本申请涉及机器人领域，尤其涉及一种机器人控制方法、装置及可读存储介质。
【背景技术】
机器人可以被当做执行机构，由上级控制器完成机器人的控制，这种工作模式为外部控制模式。
在此模式下，机器人与上级控制器之间的数据传输的类型与数量都大大增加，通常使用I/O接口连接机器人与上级控制器，完成各种数据的传输，但这需要使用大量的IO接口，接线复杂，且占用机器人系统大量IO资源，降低机器人控制效率和实时性。
【申请内容】
本申请提供一种机器人控制方法及装置，能够解决现有技术中外部控制模式占用大量I/O资源且配置复杂的问题。
为解决上述问题，本申请提供一种机器人控制方法，该方法包括：利用后台通道程序接收来自于上级控制器的控制信号；对控制信号进行解析以确定控制信号的帧结构并获取控制信号承载的控制信息；利用后台通道程序按照控制信息对机器人进行控制。
其中，对控制信号进行解析以确定控制信号的帧结构并获取控制信号承载的控制信息包括：将控制信号与预设帧结构进行比较以确定控制信号的帧结构；根据控制信号的帧结构读取控制信号中的数据以获取控制信息。
其中，利用控制信息对机器人进行控制包括：利用后台通道程序按照控制信息设置系统变量以执行控制信息指示的操作。
其中，操作包括上电、下电、紧急停止、回参考点、故障确认、程序号、程序加载、程序启动、程序暂停、程序停止中的至少一种。
其中，控制信息通过总线传输。
其中，进一步包括：获取机器人的系统状态信息；利用系统状态信息生成反馈信号，反馈信号的帧结构与控制信号的帧结构相对应；利用后台通道程序向上级控制器发送反馈信号。
其中，系统状态信息包括：驱动使能状态、驱动就绪状态、急停状态、安全门状态、参考点状态、路径运动状态、故障状态、请求程序号、运行状态中的至少一种。
其中，获取机器人的系统状态信息包括：利用后台通道程序读取系统变量状态以获取系统状态信息。
其中，反馈信号通过总线传输。
为解决上述问题，本申请还提供一种机器人控制方法，该方法包括：生成控制信号，控制信号用于指示机器人执行操作；向机器人发送控制信号；接收来自机器人的反馈信号。
本申请还提供一种机器人控制装置，该装置包括：处理器、存储器、发送器和接收器，处理器分别耦接存储器、发送器和接收器，存储器存储有指令，发送器用于向其他设备发送信号，接收器用于接收来自于其他设备的信号，处理器用于执行指令以实现以上提供的任一种方法。
本申请还提供一种可读存储介质，该可读存储介质存储有指令，指令被执行时实现以上提供的任一种方法。
通过上述方案，本申请的有益效果是：区别于现有技术，本申请利用后台通道程序接收来自于上级控制器的控制信号；对控制信号进行解析以确定控制信号的帧结构并获取控制信号承载的控制信息；利用控制信息对机器人进行控制，控制信号以帧的形式传输，占用的I/O资源大幅减少，配置简单。
【附图说明】
为了更清楚地说明本申请实施方式中的技术方案，下面将对实施方式描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。其中：
图1是本申请机器人控制方法第一实施例的流程示意图；
图2是本申请机器人控制方法第二实施例的流程示意图；
图3是本申请机器人控制方法第三实施例的流程示意图；
图4是本申请机器人控制方法第四实施例的流程示意图；
图5是本申请机器人控制装置第一实施例的结构示意图；
图6是本申请机器人可读存储介质第一实施例的结构示意图。
【具体实施方式】
下面将结合本申请实施方式中的附图，对本申请实施方式中的技术方案进行清楚、完整地描述。以下各实施例中不相互冲突的可以任意结合。显然，所描述的实施方式仅仅是本申请一区域分实施方式，而不是全区域实施方式。基于本申请中的实施方式，本领域普通技术人员在没有做出创造性的劳动前提下所获得的所有其他实施方式，都属于本申请保护的范围。
如图1所示，本申请机器人控制方法第一实施例包括：
S11：利用后台通道程序接收来自于上级控制器的控制信号。
本实施例的执行主体可以为机器人，或机器人的控制器。后台通道程序是指运行在后台的程序，具有开机自加载、自启动、不主动停止的特点。上级控制器可以是上位机、可编程逻辑控制器（Programmable Logic Controller，PLC）、控制系统等。
控制信号可以通过总线传输，总线可以为网络总线或者工业总线。上级控制器和机器人均支持总线所用的传输协议。
S12：对控制信号进行解析以确定控制信号的帧结构并获取控制信号承载的控制信息。
一帧可以包括多个字段，例如前导字段、地址字段、数据字段、校验字段、状态字段等等，帧结构描述了一帧包括哪些字段以及各个字段的位置和必要的长度信息。
确定了控制信号的帧结构，就可以知道控制信息由控制信号的哪个部分承载了控制信息，从而从控制信号中获取控制信息。控制信息用于指示机器人执行操作。
S13：利用后台通道程序按照控制信息对机器人进行控制。
利用控制信息后台通道程序可以找到与控制信息对应的操作，并控制机器人执行该操作。后台通道程序可以直接控制机器人执行该操作，也可以通知其他程序/进程，或者启动新的程序/进程来控制机器人执行该操作。
操作可以包括上电、下电、紧急停止、回参考点、故障确认、程序号、程序加载、程序启动、程序暂停、程序停止中的至少一种。
通过本实施例的实施，利用后台通道程序接收来自于上级控制器的控制信号；对控制信号进行解析以确定控制信号的帧结构并获取控制信号承载的控制信息；利用控制信息对机器人进行控制，控制信号以帧的形式传输，占用的I/O资源大幅减少，配置简单。
如图2所示，本申请机器人控制方法第二实施例，是在本申请机器人控制方法第一实施例的基础上，进一步包括：
S14：获取机器人的系统状态信息。
系统状态信息可以直接从传感器读取和/或由其他进程/程序传递。系统状态信息用于表示机器人当前的运行状态。
S15：利用系统状态信息生成反馈信号。
反馈信号的帧结构与控制信号的帧结构相对应。反馈信号承载了系统状态信息。
S16：利用后台通道程序向上级控制器发送反馈信号。
反馈信息可以通过总线传输。
如图3所示，本申请机器人控制方法第三实施例，是对本申请机器人控制方法第二实施例的扩展，与其相同的部分在此不再重复，本实施例包括：
S110：利用后台通道程序接收来自于上级控制器的控制信号。
S120：将控制信号与预设帧结构进行比较以确定控制信号的帧结构。
预设帧结构是机器人与上位控制器预先约定并存储的。预设帧结构的类别可以为1，也可以为至少两种，以分别对应不同的信号/协议/总线类型。将控制信号与预设帧结构进行比较可以确定控制信号的传输是否正确以及控制信号的帧结构是哪种。
将控制信号与预设帧结构进行比较，可以是将控制信号与完整的预设帧结构本身比较，也可以是将控制信号与用于指示预设帧结构的特征参数进行比较。例如，可以按预设字段截取控制信号并解析截取内容，比较截取内容和预设内容，若一致则确定控制信号的帧结构为预设内容代表的预设帧结构。或者是解析控制信号帧的特征词（例如帧头帧尾），根据特征词判断帧的种类从而确定控制信号的帧结构。
S130：根据控制信号的帧结构读取控制信号中的数据以获取控制信息。
确定控制信号的帧结构之后，可以读取控制信号中的数据（例如从数据字段中），这些数据承载了控制信息。
例如，上位控制器和机器人可以预先约定并存储机器人控制所需的操作表格，每个操作有一对应的编号，控制信息即为一编号。控制信号中的数据可以直接或间接的体现该编号。获取编号后机器人可以查询表格以找到对应的操作。
S140：利用后台通道程序按照控制信息设置系统变量以执行控制信息指示的操作。
可以利用后台通道程序按照控制信息设置系统变量，从而通知其他能够读取该系统变量的进程执行控制信息指示的操作。
S150：利用后台通道程序读取系统变量状态以获取系统状态信息。
举例说明，操作和系统状态信息的对应关系可以如表1所示。
  操作 系统状态信息
1 驱动上电/下电 驱动使能状态
2   驱动就绪状态
3 紧急停止 急停状态
4   安全门状态
5 回参考点 参考点状态
6   路径运动状态
7 故障确认 故障状态/故障码
8 程序号 请求程序号
9 程序加载  
10 程序启动/暂停/停止 运行状态
表1
S160：利用系统状态信息生成反馈信号。
S170：利用后台通道程序向上级控制器发送反馈信号。
如图4所示，本申请机器人控制方法第四实施例包括：
S21：生成控制信号。
本实施例的执行主体可以为上位控制器。控制信号用于指示机器人执行操作。
S22：向机器人发送控制信号。
控制信号可以通过总线传输，总线可以为网络总线或者工业总线。上级控制器和机器人均支持总线所用的传输协议。控制信号可以以帧的形式传输。
S23：接收来自机器人的反馈信号。
机器人执行操作之后，获取机器人的系统状态信息并据此生成反馈信号。接收反馈信号后可以确认机器人的系统状态并据此确定后续操作。
如图5所示，本申请机器人控制装置第一实施例包括：处理器110、存储器120、发送器130和接收器140，处理器110分别耦接存储器120、发送器130和接收器140。
存储器120用于存储处理器110工作所需的指令和数据。
发送器130和接收器140用于与其他设备（例如上级控制器）进行通信。其中发送器130用于向其他设备发送信号（例如反馈信号），接收器140接收来自于其他设备的信号（例如控制信号）。发送器130和接收器140可以集成在一起。
处理器110控制机器人控制装置的操作，处理器110还可以称为CPU（Central Processing Unit，中央处理单元）。处理器110可能是一种集成电路芯片，具有信号的处理能力。处理器110还可以是通用处理器、数字信号处理器（DSP）、专用集成电路（ASIC）、现成可编程门阵列（FPGA）或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
处理器110用于执行存储器120中存储的指令以实现本申请机器人控制方法任一实施例以及不冲突的组合所提供的方法。
如图6所示，本申请可读存储介质第一实施例包括：存储器210。存储器210存储有指令，该指令被执行时实现本申请机器人控制方法任一实施例以及不冲突的组合所提供的方法。
存储器210可以包括只读存储器（ROM，Read-Only Memory）、随机存取存储器（RAM，Random Access Memory）、闪存（Flash Memory）、硬盘、光盘等。
以上所述仅为本申请的实施方式，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (11)

  1. 一种机器人控制方法，其特征在于，包括：
    利用后台通道程序接收来自于上级控制器的控制信号；
    对所述控制信号进行解析以确定所述控制信号的帧结构并获取所述控制信号承载的控制信息；
    利用所述后台通道程序按照所述控制信息对所述机器人进行控制。
  2. 根据权利要求1所述的方法，其特征在于，
    所述对所述控制信号进行解析以确定所述控制信号的帧结构并获取所述控制信号承载的控制信息包括：
    将所述控制信号与预设帧结构进行比较以确定所述控制信号的帧结构；
    根据所述控制信号的帧结构读取所述控制信号中的数据以获取所述控制信息。
  3. 根据权利要求1所述的方法，其特征在于，
    所述利用所述控制信息对所述机器人进行控制包括：
    利用所述后台通道程序按照所述控制信息设置系统变量以执行所述控制信息指示的操作。
  4. 根据权利要求3所述的方法，其特征在于，
    所述操作包括上电、下电、紧急停止、回参考点、故障确认、程序号、程序加载、程序启动、程序暂停、程序停止中的至少一种。
  5. 根据权利要求1所述的方法，其特征在于，
    所述控制信息通过总线传输。
  6. 根据权利要求1所述的方法，其特征在于，进一步包括：
    获取所述机器人的系统状态信息；
    利用所述系统状态信息生成反馈信号，所述反馈信号的帧结构与所述控制信号的帧结构相对应；
    利用所述后台通道程序向所述上级控制器发送所述反馈信号。
  7. 根据权利要求6所述的方法，其特征在于，
    所述系统状态信息包括：驱动使能状态、驱动就绪状态、急停状态、安全门状态、参考点状态、路径运动状态、故障状态、请求程序号、运行状态中的至少一种。
  8. 根据权利要求6所述的方法，其特征在于，
    所述获取所述机器人的系统状态信息包括：
    利用所述后台通道程序读取系统变量状态以获取所述系统状态信息。
  9. 根据权利要求6所述的方法，其特征在于，
    所述反馈信号通过总线传输。
  10. 一种机器人控制系统，其特征在于，包括：处理器、存储器、发送器和接收器，所述处理器分别耦接所述存储器、所述发送器和所述接收器，所述存储器存储有指令，所述发送器用于向其他设备发送信号，所述接收器用于接收来自于所述其他设备的信号，所述处理器用于执行所述指令以实现如权利要求1-9中任一项所述的方法。
  11. 一种可读存储介质，存储有指令，其特征在于，所述指令被执行时实现如权利要求1-9中任一项所述的方法。
PCT/CN2019/096038 2019-07-15 2019-07-15 机器人控制方法、装置及可读存储介质 WO2021007754A1 (zh)

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