Robot model data synchronization method, system, and medium

Abstract

The application discloses a kind of robot model data synchronization method, system and medium, method is applied to controller, controller is connected with robot body communication, if the second model data stored in controller is inconsistent with the first model data obtained by requesting to the first robot body, make the model data stored in controller and the first robot body consistent.The application removes the strong binding relationship between control cabinet and robot body, and replacing the control cabinet will not lose the model data of the robot body;After replacing the robot body, the matching of the model data between the new robot body and the control cabinet is automatically completed, and professional personnel is no longer needed to carry out complex and error-prone debugging.Further, the problem that the model data of the robot is difficult to keep consistent between the controller and the robot body is solved, and the robot can be installed, deployed and debugged simply and quickly, the usability of the robot is increased, and the use cost of the robot is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot model data synchronization method, a robot model data synchronization system and a computer storage medium. BACKGROUND

[0002] At present, with the development of robot technology and the urgent need for machine replacement of human beings, robots are accelerating into various sub-scenarios. In order to meet the requirements of different application scenarios and different processes, the number of robot models is increasing, and the serialization of robot models is accelerating. However, the model data of the robot is only stored in the control cabinet, and there is a strong binding relationship between the control cabinet and the robot body. Replacing the control cabinet will lose the model data of the robot body; replacing the robot body will make the model data of the new robot body and the control cabinet not match, and completing the matching of the model data between the new robot body and the control cabinet requires professional personnel to debug complicatedly and easily. SUMMARY

[0003] The main purpose of the present application is to provide a robot model data synchronization method, a robot model data synchronization system and a computer storage medium, which aims to solve the technical problem that the model data of the robot is difficult to keep consistent between the controller and the robot body in the prior art.

[0004] To achieve the above-mentioned purpose, the present application provides a robot model data synchronization method, which is applied to a controller, the controller is in communication connection with a robot body, and comprises the following steps:

[0005] In response to a first data acquisition instruction, a first robot body is requested to acquire first model data;

[0006] If the second model data stored in the controller is inconsistent with the first model data, the model data stored in the controller and the first robot body is kept consistent.

[0007] Further, the step of keeping the model data stored in the controller and the first robot body consistent comprises:

[0008] In response to a model data selection instruction, model data selection is performed between the first model data and the second model data to obtain a model data selection result;

[0009] According to the model data selection result, the model data stored in the controller and the first robot body is kept consistent.

[0010] Further, the step of keeping the model data stored in the controller and the first robot body consistent according to the model data selection result comprises:

[0011] if the model data selection result is the second model data, sending the second model data to the first robot body, wherein the first robot body is configured to update the first model data stored locally in the robot body to the second model data;

[0012] if the model data selection result is the first model data, updating the second model data to the first model data.

[0013] Further, the step of sending the second model data to the first robot body further comprises:

[0014] in response to a servo parameter synchronization instruction, reading a second servo parameter in the second model data;

[0015] if the second servo parameter is inconsistent with a first servo parameter in the controller, updating the first servo parameter to the second servo parameter.

[0016] Further, the step of keeping the model data stored in the controller and the first robot body consistent further comprises:

[0017] detecting whether the first robot body is replaced by a second robot body to obtain a detection result;

[0018] synchronizing the model data respectively stored in the controller and the robot body according to the detection result.

[0019] Further, the step of synchronizing the model data respectively stored in the controller and the robot body according to the detection result comprises:

[0020] if the detection result is that the first robot body is replaced by the second robot body, sending the second model data to the second robot body, wherein the second robot body is configured to update the model data stored locally in the robot body to the second model data.

[0021] Further, the step of keeping the model data stored in the controller and the first robot body consistent further comprises:

[0022] in response to a model data file export instruction, downloading and parsing a target model data file to obtain the second model data, wherein the target model data file is a model data file for updating the model data already stored in the controller.

[0023] Further, the robot model data synchronization method is applied to a robot body, the robot body is in communication connection with a controller, and comprises the following steps:

[0024] In response to a model data acquisition request sent by the controller, the first model data stored in the robot body is sent to the controller, wherein the controller is used to synchronize the model data stored in the controller and the first robot body when the second model data stored in the controller is inconsistent with the first model data.

[0025] In addition, in order to achieve the above-mentioned purpose, the application further provides a robot model data synchronization system, the system comprises: a controller and a robot body in communication connection; the controller requests the first robot body to acquire first model data in response to a first data acquisition instruction; the robot body sends the first model data stored in the robot body to the controller in response to a model data acquisition request sent by the controller; if the second model data stored in the controller is inconsistent with the first model data, the controller makes the model data stored in the controller and the first robot body consistent.

[0026] In addition, in order to achieve the above-mentioned purpose, the application further provides a computer storage medium, the computer storage medium stores a computer program, and the computer program is executed by a processor to realize the steps of the robot model data synchronization method according to any one of the above.

[0027] The robot model data synchronization method, the robot model data synchronization system and the computer storage medium provided by the application, the robot model data synchronization method is applied to a controller, the controller is in communication connection with a robot body, and comprises the following steps: in response to a first data acquisition instruction, a first robot body is requested to acquire first model data; if the second model data stored in the controller is inconsistent with the first model data, the model data stored in the controller and the first robot body is made consistent.

[0028] In this application, when the model data stored in the controller is inconsistent with the model data stored in the robot body, the model data stored in the controller and the robot body are synchronized. The model data stored in the controller is used to overwrite the model data stored in the robot body, or vice versa. This removes the strong binding relationship between the control cabinet and the robot body, ensuring that the robot body's model data is not lost when the control cabinet is replaced. After replacing the robot body, the model data between the new robot body and the control cabinet is automatically matched, eliminating the need for complex and error-prone debugging by professionals. This solves the problem of inconsistent robot model data between the controller and the robot body, enabling simple and quick installation, deployment, and debugging of the robot, increasing its usability, and reducing its operating costs. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the hardware operation of the terminal device involved in the embodiment of the present invention;

[0030] Figure 2 This is a flowchart illustrating an embodiment of a robot model data synchronization method according to the present invention;

[0031] Figure 3 This is a logic block diagram of a model data management system according to an embodiment of a robot model data synchronization method of the present invention.

[0032] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0033] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0034] like Figure 1 As shown, Figure 1 This is a schematic diagram of the hardware operating environment of the terminal device involved in the embodiment of the present invention.

[0035] It should be noted that, Figure 1 This can be a schematic diagram of the hardware operating environment of the terminal device. In this embodiment of the invention, the terminal device can be a storage device based on NAND flash as the storage medium. For example... Figure 1As shown, the terminal device performing the robot model data synchronization method provided by the present application can include a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a storage device 1005, and a communication bus 1002. The communication bus 1002 is used to realize the connection and communication between the components. The user interface 1003 can include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 can also include a standard wired interface, a wireless interface. The network interface 1004 can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface). The storage device 1005 can be a non-volatile storage device (such as a Flash storage device), a high-speed RAM storage device, or a stable storage device (non-volatile memory) such as a magnetic disk storage device. The storage device 1005 can also be a storage device independent of the aforementioned processor 1001.

[0036] Those skilled in the art can understand that Figure 1 The terminal device structure shown in the foregoing embodiments does not constitute a limitation on the terminal device, and can include more or fewer components than those shown, or combine certain components, or different component arrangements.

[0037] As Figure 1 As shown, the storage device 1005, as a computer storage medium, can include an operating system, a network communication module, a user interface module, and a computer program. The operating system is a program that manages and controls the hardware and software resources of the sample terminal device, and supports the running of the computer program and other software or programs.

[0038] In Figure 1 In the terminal device shown, the user interface 1003 is mainly used for data communication with each terminal; the network interface 1004 is mainly used for connecting a background server and communicating data with the background server; and the processor 1001 can be used to call the computer program stored in the storage device 1005 and perform the following operations:

[0039] In response to the first data acquisition instruction, the first robot body is requested to acquire the first model data;

[0040] If the second model data stored in the controller is inconsistent with the first model data, the model data stored in the controller and the first robot body is kept consistent.

[0041] Further, the processor 1001 can call the computer program stored in the storage device 1005 and further perform the following operations:

[0042] The keeping consistent of the model data stored in the controller and the first robot body comprises:

[0043] In response to a model data selection instruction, model data selection is performed between the first model data and the second model data, to obtain a model data selection result;

[0044] According to the model data selection result, the model data stored in the controller and the first robot body are kept consistent.

[0045] Further, the processor 1001 can call the computer program stored in the storage device 1005, and further perform the following operations:

[0046] The keeping consistent of the model data stored in the controller and the first robot body comprises:

[0047] If the model data selection result is the second model data, the second model data is sent to the first robot body, wherein the first robot body is used to update the first model data stored locally in the robot body to the second model data;

[0048] If the model data selection result is the first model data, the second model data is updated to the first model data.

[0049] Further, the processor 1001 can call the computer program stored in the storage device 1005, and further perform the following operations:

[0050] The step of sending the second model data to the first robot body further comprises:

[0051] In response to a servo parameter synchronization instruction, a second servo parameter in the second model data is read;

[0052] If the second servo parameter is inconsistent with a first servo parameter in the controller, the first servo parameter is updated to the second servo parameter.

[0053] Further, the processor 1001 can call the computer program stored in the storage device 1005, and further perform the following operations:

[0054] The keeping consistent of the model data stored in the controller and the first robot body further comprises:

[0055] Detecting whether the first robot body is replaced by a second robot body to obtain a detection result;

[0056] Synchronize the model data stored in the controller and the first robot body according to the detection result.

[0057] Further, the processor 1001 can invoke the computer program stored in the storage device 1005, and further perform the following operations:

[0058] The step of synchronizing the model data stored in the controller and the first robot body according to the detection result comprises:

[0059] If the detection result is to replace the first robot body with the second robot body, the second model data is sent to the second robot body, wherein the second robot body is used to update the model data stored in the robot body locally to the second model data.

[0060] Further, the processor 1001 can invoke the computer program stored in the storage device 1005, and further perform the following operations:

[0061] The step of synchronizing the model data stored in the controller and the first robot body according to the detection result comprises:

[0062] In response to the model data file export instruction, the target model data file is downloaded and parsed to obtain the second model data, wherein the target model data file is a model data file for updating the model data already stored in the controller.

[0063] Further, the processor 1001 can invoke the computer program stored in the storage device 1005, and further perform the following operations:

[0064] In response to the model data acquisition request sent by the controller, the first model data stored in the robot body is sent to the controller, wherein the controller is used to synchronize the model data stored in the controller and the first robot body when the second model data stored in the controller is inconsistent with the first model data.

[0065] Please refer to Figure 2 , Figure 2 The flowchart of an embodiment of the robot model data synchronization method of the application.

[0066] The model data is a basic description of the robot body, which contains the definition of key parameter data of the machine, performance, motion, etc. It is the key data of the robot. In the process of model serialization, that is, when new models are continuously released, the model of the new robot model needs to match the new model data, and the R&D personnel need to develop, adapt, verify the data and archive it for production. Moreover, model data not only involves R&D and production, but also involves customer site installation and debugging. Simple, fast installation, deployment and debugging of robots are also important competitiveness of robot products. However, the model data has no model library software management, and is generally edited manually, which is low in efficiency, prone to errors and has non-standard data format. Therefore, in the embodiment, the model data management system block diagram as shown in Figure 3 The model data management personnel can add a new model, modify the model parameters or update the model library through the PC software of the robot in the offline state. Among them, the parameter package can be exported, archived or released separately. Thus, the model data is managed through the model data management system to cope with the operation of adding a new model and modifying parameters, which improves the operation efficiency of adding a model and the like, increases the usability of the model data and the robot, and reduces the use cost of the model data and the robot.

[0067] Further, with reference to Figure 3 In a corresponding embodiment, the following steps are included:

[0068] S0, the user selects one of the existing models as a template on the PC software of the robot to create a new model; S1, the user adds or modifies parameters on the current model parameter page, saves the generated model parameter file; S2, the robot PC software connects the controller, clicks download, and downloads the model parameter file to the controller; the controller is notified of the file path and file name using a message, and then the controller loads and parses the model parameter file into the memory; S3, based on the model parameters, the principle of keeping consistent is maintained in the ontology memory and the controller. The robot controller compares the model parameter data with the parameter data stored in the ontology. If the data is different, the user is prompted to select the parameters in the ontology or the parameters downloaded to the controller; S4, if the parameter data in the ontology is selected, the controller reads the ontology data, covers the downloaded data, restores the original parameter data, and the download is invalid; if the parameter data downloaded to the controller is selected, the model parameter data is sent to the ontology to update the data in the ontology. As a result, the model parameter data in the controller and the parameter data in the ontology are consistent. S5, if the updated model parameter data is selected, the controller continues to read the servo parameters and compares them with the servo parameters in the model parameters; if they are inconsistent, the parameters are updated; S6, the model data management process is completed, and it is prompted to restart the power supply.

[0069] The model data includes ontology parameters, performance parameters, servo parameters, etc., and is stored in the controller and the ontology; the user can use the PC software of the robot to connect the controller to update the model data. After updating, the controller first compares the model data in the controller with the model data in the ontology. If they are different, an alarm is given to prompt the user to select whether to overwrite the model data in the ontology. If the selection is not to overwrite, the original model data is restored; if the selection is to overwrite, the downloaded model data overwrites the data in the ontology to match the servo parameters.

[0070] The double storage of the model data between the controller and the ontology simplifies the relationship between the control cabinet and the ontology. When the field control cabinet is damaged or replaced, the user only needs to connect the controller through the PC software of the robot and select to import the ontology parameters, so that the parameters are not lost; when the ontology is damaged and replaced on site, the user only needs to select to update the model parameters in the controller to the ontology.

[0071] In the embodiment, the robot model data synchronization method is applied to the controller, the controller is in communication connection with the robot ontology, and includes the following steps:

[0072] In step S10, first model data is requested from the first robot ontology in response to a first data acquisition instruction.

[0073] The first data acquisition instruction is triggered when the model data in the controller and the model data in the robot ontology are inconsistent, can be triggered based on the selection of the model data management system interface to synchronize, can be triggered based on the selection of the model data management system interface to update the model data in the controller, can be triggered based on the selection of the model data management system interface to update the model data in the robot ontology, or can be triggered after the robot ontology is replaced and the change of the robot ontology is detected. In the embodiment, the way of determining that the model data in the controller and the model data in the robot ontology are inconsistent is not limited, and the scene of determining that the model data in the controller and the model data in the robot ontology are inconsistent is not limited.

[0074] Optionally, before step S20, the method further includes:

[0075] In response to a model data file export instruction, the second model data is obtained by downloading and analyzing a target model data file, wherein the target model data file is a model data file for updating the model data already stored in the controller.

[0076] The second model data is the model data downloaded from the PC software of the model data management system in the above-mentioned corresponding embodiment S2 and parsed and loaded into the memory of the controller, which is used to update the model data stored in the controller. Further, the model data file export instruction can be used as the first data acquisition instruction in the above-mentioned step S10 to download, parse and load the second model data into the memory of the controller, which is equivalent to updating the model data in the controller which is originally consistent with the model data in the robot body, and the model data file export instruction makes the second model data inconsistent with the model data in the robot body.

[0077] In step S20, if the second model data stored in the controller is inconsistent with the first model data, the model data stored in the controller and the first robot body is kept consistent.

[0078] If the second model data stored in the memory of the controller is inconsistent with the first model data requested from the first robot body, the current second model data in the controller and the first model data stored in the first robot body are synchronized, so that the model data stored in the controller and the robot body respectively is kept consistent.

[0079] In the embodiment, the robot model data synchronization method is applied to the controller which is in communication connection with the robot body, and includes the following steps: in response to a first data acquisition instruction, requesting a first robot body to acquire first model data; if the second model data stored in the controller is inconsistent with the first model data, keeping the model data stored in the controller and the first robot body consistent.

[0080] In the present application, when the model data stored in the controller is inconsistent with the model data stored in the robot body, the model data stored in the controller and the robot body respectively is synchronized, and the model data stored in the robot body is overwritten by the model data stored in the controller or vice versa. Thus, the strong binding relationship between the control cabinet and the robot body is removed, and the model data of the robot body is not lost when the control cabinet is replaced; after the robot body is replaced, the matching of the model data between the new robot body and the control cabinet is automatically completed, and professional personnel are no longer needed to perform complex and error-prone debugging. Further, the problem that the model data of the robot is difficult to keep consistent between the controller and the robot body is solved, the robot can be installed, deployed and debugged simply and quickly, the usability of the robot is increased, and the use cost of the robot is reduced.

[0081] In another embodiment of the robot model data synchronization method, the step of keeping the model data stored in the controller and the first robot body consistent comprises:

[0082] In response to the model data selection instruction, model data selection is performed between the first model data and the second model data, and a model data selection result is obtained.

[0083] According to the model data selection result, the model data stored in the controller and the first robot body are kept consistent.

[0084] Further, the model data selection instruction is triggered based on a model data selection interface. When the second model data stored in the controller memory and the first model data requested from the first robot body are inconsistent, a model data selection interface is provided on the PC software of the model data management system for the user to select the model data to be finally stored in the controller and the robot body.

[0085] Further, the first parameter content of the first model data is displayed in a first area of the model data selection interface, and the second parameter content of the second model data is displayed in a second area of the model data selection interface. Different parameters of the first parameter content and the second parameter content are highlighted in the first parameter content and the second parameter content. Alternatively, the different parameters are displayed in the first area and the second area, and the same parameters are hidden. The model data selection instruction is triggered based on the first area or the second area.

[0086] The above is to select between the second model data downloaded, parsed and loaded into the controller memory and the first model data in the robot body when the controller is not replaced and the controller is updated. Further, if the controller or the robot body is replaced, the model data selection interface does not need to be provided. If the controller is replaced (not updated), the model data of the robot body is used as the model data selection result. If the robot body is replaced, the model data in the controller is used as the model data selection result.

[0087] Optionally, the step of keeping the model data stored in the controller and the first robot body consistent according to the model data selection result comprises:

[0088] If the model data selection result is the second model data, the second model data is sent to the first robot body, and the first robot body is used to update the first model data stored in the robot body to the second model data.

[0089] If the model data selection result is the first model data, the second model data is updated to the first model data.

[0090] After the second model data is used to update the model data originally stored in the controller, if the second model data is selected from the second model data and the first model data of the robot body, if the model data selection result is the second model data, the second model data is sent to the first robot body, and after the first robot body receives the second model data, the first model data stored locally in the robot body is updated to the second model data, and the second model data is stored in the first model data stored locally in the robot body.

[0091] If the first model data is selected from the second model data and the first model data of the robot body, if the model data selection result is the first model data, the controller updates the second model data to the first model data, and the first model data is stored in the model data of the controller. Wherein, since the model data stored in the controller memory is the same as the first model data of the robot body after downloading, parsing and loading the second model data stored in the controller memory, in this case, it is equivalent to restoring the original model data of the controller, and downloading, parsing and loading the second model data stored in the controller memory are invalid, which is equivalent to withdrawing this series of update actions.

[0092] Optionally, after the step of sending the second model data to the first robot body, it further comprises:

[0093] In response to the servo parameter synchronization instruction, the second servo parameter in the second model data is read;

[0094] If the second servo parameter is inconsistent with the first servo parameter in the controller, the first servo parameter is updated to the second servo parameter.

[0095] If the second model data is selected from the second model data and the first model data of the robot body, and it is determined that the model data selection result is the second model data, the servo parameter needs to be synchronized.

[0096] Further, the servo parameter synchronization instruction is triggered based on a servo parameter selection interface. When the second servo parameter in the second model data downloaded, parsed and loaded to the controller memory is inconsistent with the first servo parameter in the old model parameter before the model parameter in the controller is updated, a servo parameter selection interface is provided on the PC software of the model data management system for the user to select the servo parameter finally stored in the servo driver in the controller.

[0097] Further, the first servo parameter of the old robot model data is displayed in a first area of the servo parameter selection interface, and the second servo parameter of the second robot model data is displayed in a second area of the servo parameter selection interface; a difference parameter between the first servo parameter and the second servo parameter is highlighted in the first servo parameter and the second servo parameter; or the difference parameter is displayed in the first area and the second area, and the same parameter is hidden; the servo parameter synchronization instruction is triggered based on the first area or the second area.

[0098] In another embodiment of the robot model data synchronization method, the step of keeping the model data stored in the controller and the first robot body consistent further comprises:

[0099] detecting whether the first robot body is replaced by a second robot body to obtain a detection result;

[0100] synchronizing the model data stored in the controller and the robot body according to the detection result.

[0101] If the controller or the robot body is replaced, the model data selection interface does not need to be provided; if the controller is replaced (not updated), the model data of the robot body is used as the model data selection result; if the robot body is replaced, the model data in the controller is used as the model data selection result.

[0102] Further, the controller detects whether the robot body is replaced; and the model data stored in the controller and the robot body is synchronized according to a detection result of whether the first robot body is replaced by a second robot body.

[0103] Optionally, the step of synchronizing the model data stored in the controller and the robot body according to the detection result comprises:

[0104] If the detection result is that the first robot body is replaced by the second robot body, the second robot model data is sent to the second robot body, wherein the second robot body is used to update the model data stored locally in the robot body to the second robot model data.

[0105] If the detection result is to replace the first robot body with the second robot body, only the updated second model data needs to be sent to the second robot body; further, after receiving the model data sent by the controller, the robot body directly covers the received model data with the model data stored locally by the robot body, and updates the model data stored locally by the robot body to the received model data. Further, the second robot body is used to update the model data stored locally by the robot body to the second model data. Further, if the old model data in the controller is not updated to the second model data, the old model data is sent to the second robot body, and the second robot body is used to update the model data stored locally by the robot body to the received old model data in the controller.

[0106] Further, in another embodiment of the present application, the method is applied to a robot body in communication connection with a controller, and includes the following steps:

[0107] In response to the model data acquisition request sent by the controller, the first model data stored by the robot body is sent to the controller, wherein the controller is used to synchronize the model data respectively stored in the controller and the first robot body when the second model data stored in the controller is inconsistent with the first model data.

[0108] The model data acquisition request sent by the controller is a request triggered when the model data in the controller and the model data in the robot body are inconsistent, which can be a request triggered based on the selection of the model data management system interface to synchronize, or a request triggered based on the selection of the model data management system interface to update the model data in the controller, or a request triggered based on the selection of the model data management system interface to update the model data in the robot body, or a request triggered after detecting the change of the robot body after replacing the robot body. In this embodiment, the way of determining that the model data in the controller and the model data in the robot body are inconsistent is not limited, and the scene of determining that the model data in the controller and the model data in the robot body are inconsistent is not limited.

[0109] The second model data is the model data downloaded from the PC software of the model data management system in S2 in the above-mentioned corresponding embodiment and parsed and loaded into the memory of the controller, which is used to update the model data stored in the controller. Further, the model data file export instruction can be used as the first data acquisition instruction in the above-mentioned step S10 to download, parse and load the second model data into the memory of the controller, which is equivalent to updating the model data in the controller which is originally consistent with the model data in the robot body, and the model data file export instruction makes the second model data inconsistent with the model data in the robot body.

[0110] If the second model data stored in the memory of the controller is inconsistent with the first model data requested from the first robot body after being downloaded, parsed and loaded, the current second model data in the controller and the first model data stored in the first robot body are synchronized, so that the model data stored in the controller and the robot body respectively is kept consistent.

[0111] In the embodiment, the robot model data synchronization method is applied to the robot body which is in communication connection with the controller and includes the following steps: in response to the model data acquisition request sent by the controller, the first model data stored in the robot body is sent to the controller, wherein the controller is used to synchronize the model data stored in the controller and the first robot body respectively when the second model data stored in the controller is inconsistent with the first model data.

[0112] In the present application, when the model data stored in the controller is inconsistent with the model data stored in the robot body, the model data stored in the controller and the robot body respectively is synchronized, and the model data stored in the robot body is overwritten by the model data stored in the controller or the model data stored in the controller is overwritten by the model data stored in the robot body. Thus, the strong binding relationship between the control cabinet and the robot body is removed, and the model data of the robot body is not lost when the control cabinet is replaced; after the robot body is replaced, the matching of the model data between the new robot body and the control cabinet is automatically completed, and professional personnel are no longer needed to perform complicated and error-prone debugging. Further, the problem that the model data of the robot is difficult to keep consistent between the controller and the robot body is solved, the robot can be installed, deployed and debugged simply and quickly, the usability of the robot is increased, and the use cost of the robot is reduced.

[0113] Further, the embodiment of the present application also provides a robot model data synchronization system, the system comprising: a controller and a robot body in communication connection; the controller requests the first robot body to acquire first model data in response to a first data acquisition instruction; the robot body sends the first model data stored in the robot body to the controller in response to the model data acquisition request sent by the controller; if the second model data stored in the controller is inconsistent with the first model data, the controller makes the model data stored in the controller and the first robot body consistent.

[0114] Further, the embodiment of the present application also provides a computer storage medium, the computer storage medium storing a computer program, the computer program being executed by a processor to implement the steps of the robot model data synchronization method according to any one of the above.

[0115] The steps implemented when the computer program running on the processor is executed can refer to the steps of the robot model data synchronization method according to the embodiments of the present application, which will not be described here.

[0116] It should be noted that, in this document, the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article or system. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of another identical element in the process, method, article or system including the element.

[0117] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0118] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by means of software and necessary general hardware platforms, of course, they can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a computer storage medium (such as a Flash storage device, ROM / RAM, magnetic disk, optical disk), and includes a plurality of instructions for making a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the method described in each embodiment of the present application.

[0119] The above merely describes the preferred embodiments of the present application, and is not intended to limit the patent scope of the present application, and any equivalent structure or equivalent process conversion, or direct or indirect application in other related technical fields, which are made by using the content of the present application specification and drawings, are also included in the patent protection scope of the present application.

Claims

1. A method for synchronizing robot model data, characterized in that, Applied to a controller that is communicatively connected to the robot body, the method includes the following steps: In response to the first data acquisition command, request data on the first robot model from the first robot body; If the second model data stored in the controller is inconsistent with the first model data, then the model data stored in the controller and the first robot body shall be kept consistent. The step of ensuring consistency between the model data stored in the controller and the first robot body includes: In response to the model data selection command, a model data selection is performed between the first model data and the second model data to obtain the model data selection result; If the model data selection result is the second model data, then the second model data is sent to the first robot body, wherein the first robot body is used to update the first model data stored locally on the robot body to the second model data; If the model data selection result is the first model data, then the second model data will be updated to the first model data.

2. The robot model data synchronization method as described in claim 1, characterized in that, After the step of sending the second model data to the first robot body, the method further includes: In response to the servo parameter synchronization command, the second servo parameter is read from the second model data; If the second servo parameter is inconsistent with the first servo parameter in the controller, then the first servo parameter is updated to the second servo parameter.

3. The robot model data synchronization method as described in claim 1, characterized in that, The step of keeping the model data stored in the controller and the first robot body consistent also includes: The system detects whether the first robot body has been replaced with the second robot body and obtains the detection result. Based on the detection results, the model data stored in the controller and the robot body are synchronized.

4. The robot model data synchronization method as described in claim 3, characterized in that, The step of synchronizing the model data stored in the controller and the robot body respectively based on the detection results includes: If the detection result indicates that the first robot body is to be replaced by the second robot body, then the second model data is sent to the second robot body, wherein the second robot body is used to update the model data stored locally on the robot body to the second model data.

5. The robot model data synchronization method as described in claim 1, characterized in that, Before the step of keeping the model data stored in the controller and the first robot body consistent, the method further includes: In response to the model data file export command, the target model data file is downloaded and parsed to obtain the second model data, wherein the target model data file is a model data file that updates the model data already stored in the controller.

6. A method for synchronizing robot model data, characterized in that, Applied to the robot body, which is communicatively connected to the controller, the method includes the following steps: In response to a model data acquisition request sent by the controller, the first model data stored in the robot body is sent to the controller. The controller is configured to synchronize the model data stored in the controller and the first robot body respectively when the second model data stored in the controller is inconsistent with the first model data, so that the model data stored in the controller and the first robot body are consistent. Maintaining consistency between the model data stored in the controller and the first robot body includes: in response to a model data selection instruction, selecting between the first model data and the second model data to obtain a model data selection result; if the model data selection result is the second model data, then sending the second model data to the first robot body, wherein the first robot body is configured to update the first model data stored locally in the robot body to the second model data; if the model data selection result is the first model data, then updating the second model data to the first model data.

7. A robot model data synchronization system, characterized in that, The system includes: The controller and robot body are connected via communication. The controller responds to the first data acquisition instruction and requests the first model data from the first robot body; In response to the model data acquisition request sent by the controller, the robot body sends the first model data stored in the robot body to the controller; If the second model data stored in the controller is inconsistent with the first model data, the controller makes the model data stored in the controller and the first robot body consistent. Making the model data stored in the controller and the first robot body consistent includes: responding to a model data selection instruction, selecting model data between the first model data and the second model data to obtain a model data selection result; if the model data selection result is the second model data, then sending the second model data to the first robot body, wherein the first robot body updates the first model data stored locally in the robot body to the second model data; if the model data selection result is the first model data, then updating the second model data to the first model data.

8. A computer storage medium, characterized in that, The computer storage medium stores a computer program, which, when executed by a processor, implements the steps of the robot model data synchronization method as described in any one of claims 1 to 5.

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