Robot controlling method, system and warehouse-transport robot

A robot controlling method, comprising:

• receiving, by a chassis controller, an information synchronization instruction sent by a main controller;
• performing, by the chassis controller, information synchronization with a rotation controller according to the information synchronization instruction;
• sending, by the chassis controller, a synchronous rotation instruction to the rotation controller, and controlling a chassis motor to drive a robot chassis to rotate at a predetermined angular velocity relative to the ground;
• and
• controlling, by the rotation controller, a rotation motor to drive a robot rotation mechanism to synchronously rotate at an angular velocity relative to the rotating robot chassis according to the synchronous rotation instruction,
• wherein, the direction of the angular velocity relative to the ground of the robot chassis is opposite to that of the angular velocity relative to the rotating chassis of the robot rotation mechanism and the value of the angular velocity relative to the ground of the robot chassis is equal to that of the angular velocity relative to the rotating chassis of the robot rotation mechanism.

A robot controlling system, comprising:

• one or more memories, a main controller, a chassis controller, and a rotation controller,
• wherein, the main controller, the chassis controller, and the rotation controller are configured to execute a method on a basis of instructions stored in the memories, comprising:
• receiving, by a chassis controller, an information synchronization instruction sent by a main controller;
• performing, by the chassis controller, information synchronization with a rotation controller according to the information synchronization instruction;
• sending, by the chassis controller, a synchronous rotation instruction to the rotation controller, and controlling a chassis motor to drive a robot chassis to rotate at a predetermined angular velocity relative to the ground;
• and
• controlling, by the rotation controller, a rotation motor to drive a robot rotation mechanism to synchronously rotate at an angular velocity relative to the rotating robot chassis according to the synchronous rotation instruction,
• wherein, the direction of the angular velocity relative to the ground of the robot chassis is opposite to that of the angular velocity relative to the rotating chassis of the robot rotation mechanism and the value of the angular velocity relative to the ground of the robot chassis is equal to that of the angular velocity relative to the rotating chassis of the robot rotation mechanism.

A computer-readable storage medium on which computer program instructions are stored, which when executed by a processor implement a method, comprising:

• receiving, by a chassis controller, an information synchronization instruction sent by a main controller;
• performing, by the chassis controller, information synchronization with a rotation controller according to the information synchronization instruction;
• sending, by the chassis controller, a synchronous rotation instruction to the rotation controller, and controlling a chassis motor to drive a robot chassis to rotate at a predetermined angular velocity relative to the ground;
• and
• controlling, by the rotation controller, a rotation motor to drive a robot rotation mechanism to synchronously rotate at an angular velocity relative to the rotating robot chassis according to the synchronous rotation instruction,
• wherein, the direction of the angular velocity relative to the ground of the robot chassis is opposite to that of the angular velocity relative to the rotating chassis of the robot rotation mechanism and the value of the angular velocity relative to the ground of the robot chassis is equal to that of the angular velocity relative to the rotating chassis of the robot rotation mechanism.