Robot matching method, device, equipment and storage medium

Abstract

The application discloses a kind of matching method, device, equipment and storage medium of robot.The application obtains the first parameter stored in the controller in robot and the second parameter stored in mechanical body in the process of running, when the first parameter and the second parameter are inconsistent, select target parameter from the first parameter and the second parameter, then transmit target parameter between controller and mechanical body, to carry out parameter matching between controller and mechanical body.The application can store the first parameter and the second parameter at both ends of controller and mechanical body, and store target parameter at both ends of controller and mechanical body, ensure the correctness of parameter, compared with the existing calibration, calibration, which needs mechanical body and controller together, the application can realize automatic matching between mechanical body and controller according to target parameter, simplify matching process, improve matching efficiency, and can avoid strong binding between mechanical body and controller.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a matching method, apparatus, device, and storage medium for robots. Background Technology

[0002] With the promotion of industrial automation, industrial robots are widely used in automated production lines. Industrial robots generally consist of a controller and a mechanical body. Their parameters are stored in a control cabinet. Therefore, when the controller connected to the robot's mechanical body is replaced, the robot must be recalibrated for it to function properly. For robot production and supply, because the parameters are stored in the control cabinet, it is required that the robot's mechanical body and controller be calibrated and adjusted together, and the robot's mechanical body must be tightly bound to the controller upon shipment. Therefore, how to achieve automatic matching between the robot's mechanical body and the controller, and avoid a strong binding between them, has become a pressing problem to be solved. Summary of the Invention

[0003] The main objective of this invention is to provide a robot matching method, apparatus, device, and storage medium, aiming to solve the technical problem of how to achieve automatic matching between the robot's mechanical body and the controller, and avoid the technical problem of strong binding between the robot's mechanical body and the controller.

[0004] To achieve the above objectives, the present invention provides a robot matching method, which includes the following steps:

[0005] During the operation of the robot, the first parameter stored in the controller and the second parameter stored in the mechanical body are acquired.

[0006] When the first parameter and the second parameter are inconsistent, the target parameter is selected from the first parameter and the second parameter;

[0007] The target parameters are transmitted between the controller and the mechanical body to perform parameter matching between the controller and the mechanical body.

[0008] Optionally, before the step of acquiring the first parameter stored in the controller and the second parameter stored in the mechanical body during the operation of the robot, the method further includes:

[0009] When the controller in the robot is turned on, the controller parameters stored in the controller in the robot and the body parameters stored in the mechanical body in the robot are obtained;

[0010] The controller and the mechanical body are version matched according to the controller parameters and the body parameters;

[0011] When the version matching is successful, the first parameter stored in the controller and the second parameter stored in the mechanical body are obtained.

[0012] Optionally, the step of matching the controller and the mechanical body according to the controller parameters and the body parameters specifically includes:

[0013] Based on the controller parameters and the body parameters, perform software and hardware checks on the controller and the mechanical body to obtain the software and hardware check results;

[0014] Based on the controller parameters and the body parameters, a power check is performed on the controller and the mechanical body to obtain the power check result;

[0015] Based on the controller parameters and the body parameters, perform parameter version checks on the controller and the mechanical body to obtain parameter version check results;

[0016] When the software and hardware check result is "software and hardware check passed", the power check result is "power check passed", and the parameter version check result is "parameter version check passed", the version matching is determined to be successful.

[0017] Optionally, the step of performing software and hardware checks on the controller and the mechanical body based on the controller parameters and the body parameters to obtain the software and hardware check results specifically includes:

[0018] Obtain the target controller software and hardware version from the controller parameters and the target ontology software and hardware version from the ontology parameters;

[0019] Obtain the initial controller hardware and software version and the initial host hardware and software version that support out-of-order matching;

[0020] The initial controller hardware and software version and the target controller hardware and software version are matched to obtain the controller matching result;

[0021] The initial ontology software and hardware version and the target ontology software and hardware version are matched to obtain ontology matching results;

[0022] When both the controller matching result and the body matching result are successful, the software and hardware check result is determined to be successful.

[0023] Optionally, the step of performing a power check on the controller and the mechanical body based on the controller parameters and the body parameters to obtain a power check result specifically includes:

[0024] Obtain the servo drive board parameters from the controller parameters and the servo motor parameters from the body parameters;

[0025] The parameters of the servo drive board and the parameters of the servo motor are matched to obtain the parameter matching result;

[0026] When the parameter matching result is a successful match, the power check result is determined to be a successful power check.

[0027] Optionally, the step of performing a parameter version check on the controller and the mechanical body based on the controller parameters and the body parameters to obtain the parameter version check result specifically includes:

[0028] Obtain the controller software version from the controller parameters and the body parameter version from the body parameters;

[0029] Obtain the compatibility type between the controller software version and the ontology parameter version;

[0030] Based on the compatibility type, determine whether the controller software version is compatible with the entity parameter version;

[0031] If so, then the parameter version check result is confirmed as "parameter version check passed".

[0032] Optionally, the body parameters include: description information area parameters and model parameter storage area parameters; the description information area parameters include the body parameter version in the body parameters, and the model parameter storage area parameters include the second parameter and the servo motor parameters in the body parameters.

[0033] Furthermore, to achieve the above objectives, the present invention also provides a robot matching device, the robot matching device comprising:

[0034] The parameter acquisition module is used to acquire the first parameter stored in the controller and the second parameter stored in the mechanical body of the robot during the operation of the robot.

[0035] The parameter selection module is used to select a target parameter from the first parameter and the second parameter when the first parameter and the second parameter are inconsistent;

[0036] The robot's matching module is used to transmit the target parameters between the controller and the mechanical body to perform parameter matching between the controller and the mechanical body.

[0037] Furthermore, to achieve the above objectives, the present invention also proposes a robot matching device, the robot matching device comprising: a memory, a processor, and a robot matching program stored in the memory and executable on the processor, the robot matching program being configured to implement the steps of the robot matching method as described above.

[0038] Furthermore, to achieve the above objectives, the present invention also proposes a storage medium storing a robot matching program, which, when executed by a processor, implements the steps of the robot matching method described above.

[0039] This invention acquires a first parameter stored in the robot's controller and a second parameter stored in the robot's mechanical body during robot operation. When the first and second parameters are inconsistent, a target parameter is selected from the first and second parameters and then transmitted between the controller and the mechanical body to achieve parameter matching between them. By acquiring the first parameter stored in the controller and the second parameter stored in the mechanical body, this invention enables the first and second parameters to be stored at both ends of the controller and the mechanical body, and transmits the target parameter between them. This ensures the accuracy of the parameters. Compared to existing methods that require the mechanical body and controller to be calibrated together, this invention can achieve automatic matching between the mechanical body and the controller based on the target parameter, simplifying the matching process, improving matching efficiency, and avoiding strong binding between the mechanical body and the controller. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the structure of the robot matching device in the hardware operating environment involved in the embodiments of the present invention;

[0041] Figure 2 This is a flowchart illustrating the first embodiment of the matching method for the robot of the present invention;

[0042] Figure 3 This is a data storage partition diagram of the body parameters in an embodiment of the matching method for the robot of the present invention;

[0043] Figure 4 This is a flowchart illustrating the second embodiment of the matching method for the robot of the present invention;

[0044] Figure 5 This is a flowchart illustrating the third embodiment of the matching method for the robot of the present invention;

[0045] Figure 6 This is a schematic diagram illustrating parameter acquisition in one embodiment of the matching method for the robot of the present invention;

[0046] Figure 7 This is a schematic diagram of the overall process of an embodiment of the matching method for the robot of the present invention;

[0047] Figure 8 This is a structural block diagram of the first embodiment of the matching device for the robot of the present invention.

[0048] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0049] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0050] Reference Figure 1 , Figure 1 This is a schematic diagram of the robot matching device structure in the hardware operating environment of the embodiment of the present invention.

[0051] like Figure 1 As shown, the matching device for this robot may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0052] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the matching device for the robot and may include more or fewer parts than shown, or combine certain parts, or have different arrangements of parts.

[0053] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a robot matching program.

[0054] exist Figure 1In the robot matching device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the robot matching device of the present invention can be set in the robot matching device. The robot matching device calls the robot matching program stored in the memory 1005 through the processor 1001 and executes the robot matching method provided in the embodiment of the present invention.

[0055] Based on the aforementioned robot matching device, this embodiment of the invention provides a robot matching method, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the matching method for the robot of the present invention.

[0056] In this embodiment, the robot matching method includes the following steps:

[0057] Step S10: During the operation of the robot, acquire the first parameter stored in the controller and the second parameter stored in the mechanical body.

[0058] It should be noted that the execution subject in this embodiment can be a hardware device such as a computer capable of performing data processing and data acquisition operations. For example, a computer can acquire the first parameter stored in the controller of the robot and the second parameter stored in the mechanical body.

[0059] It should be understood that the body parameters in this embodiment are parameters stored in the mechanical body, which may specifically include the gyroscope parameters of the mechanical body, the size parameters of the mechanical body, the shape parameters of the mechanical body, etc. In this embodiment, the body parameters preferably include the body gyroscope parameters, as shown in the reference. Figure 3 , Figure 3 This is a data storage partition diagram of the body parameters in an embodiment of the robot matching method of the present invention. For example... Figure 3 As shown, the ontology parameter data storage partition diagram in this embodiment may include, from low to high address, the description information area, the matching and tracing area, the model parameter storage area, and the extended reserved area.

[0060] It is understood that the aforementioned first parameter can be a first model parameter stored in the controller, and the aforementioned second parameter can be a second model parameter stored in the controller. The second model parameter can be stored in the aforementioned model parameter storage area. The model parameter storage area can store the second model parameter, initially recording the second area check code of the second model parameter, and then dividing it into four small areas to record joint parameters, body parameters, motion parameters, and servo parameters and their area check codes, respectively. The first model parameter can be stored in the controller, or it can include the first area check code of the first model parameter.

[0061] Step S20: When the first parameter and the second parameter are inconsistent, select the target parameter from the first parameter and the second parameter.

[0062] It should be understood that when the first parameter and the second parameter are inconsistent—that is, when the first area check code in the first parameter and the second area check code in the second parameter are inconsistent—an alarm can be triggered, and a target parameter can be selected from the first and second parameters. This target parameter may include joint parameters, body parameters, motion parameters, and servo parameters. Specifically, the method for selecting the target parameter can be pre-defined by the operator as either using the controller or the mechanical body as the reference for robot matching. If the controller is used as the reference, the first parameter stored in the controller can be used as the target parameter; if the mechanical body is used as the reference, the second parameter stored in the mechanical body can be used as the target parameter.

[0063] Step S30: Transmit the target parameters between the controller and the mechanical body to perform parameter matching between the controller and the mechanical body.

[0064] In practical implementation, the target parameter can be transmitted between the controller and the mechanical body. That is, when the target parameter is the first parameter, the first parameter is transmitted from the controller to the mechanical body, and when the target parameter is the second parameter, the second parameter is transmitted from the mechanical body to the controller, so that the model parameters stored in the controller and the mechanical body are consistent, thereby performing parameter matching between the controller and the mechanical body, and realizing automatic control of the mechanical body by the controller.

[0065] This embodiment acquires a first parameter stored in the robot's controller and a second parameter stored in the robot's mechanical body during robot operation. When the first and second parameters are inconsistent, a target parameter is selected from the first and second parameters and then transmitted between the controller and the mechanical body to perform parameter matching between them. By acquiring the first parameter stored in the controller and the second parameter stored in the mechanical body, this embodiment enables the first and second parameters to be stored at both ends of the controller and the mechanical body, and transmits the target parameter between them. This ensures the accuracy of the parameters. Compared to existing methods that require the mechanical body and controller to be calibrated together, this embodiment can achieve automatic matching between the mechanical body and the controller based on the target parameter, simplifying the matching process, improving matching efficiency, and avoiding strong binding between the mechanical body and the controller.

[0066] refer to Figure 4 , Figure 4 This is a flowchart illustrating the second embodiment of the matching method for the robot of the present invention.

[0067] Based on the first embodiment described above, in this embodiment, before step S10, the method further includes:

[0068] Step S01: When the controller in the robot is turned on, obtain the controller parameters stored in the controller and the body parameters stored in the mechanical body of the robot.

[0069] Understandably, when the controller in the robot is turned on, it can obtain the controller parameters stored in the controller and the body parameters stored in the mechanical body of the robot. The controller parameters refer to the controller-related parameters stored in the controller, such as the controller software and hardware version, controller model parameters, etc. The body parameters refer to the parameters stored in the gyroscope of the mechanical body, such as the robot model, body model parameters, etc.

[0070] Furthermore, in this embodiment, the ontology parameters include: description information area parameters and model parameter storage area parameters; the description information area parameters include the ontology parameter version in the ontology parameters, and the model parameter storage area parameters include the second parameter and the servo motor parameters in the ontology parameters.

[0071] It should be understood that the body parameters in this embodiment may include: description information area parameters and model parameter storage area parameters. Description information area parameters may include the body parameter version, and may also include the mechanical body SN code, controller SN code, factory information, body parameter version number, mechanical body model, and controller model, etc. The mechanical body SN code refers to the mechanical body serial number (SN), and the controller SN code refers to the controller serial number. Model parameter storage area parameters may include second parameters and servo motor parameters. The second parameters may include a second area check code, joint parameters, body parameters, motion parameters, and servo parameters. Servo parameters may include servo motor parameters. In addition, body parameters may also include matching traceability area parameters, specifically including transmission parameters between the controller and the mechanical body's gyroscope, and transmission history information between the mechanical body's gyroscope and the control cabinet where the controller is located. A maximum of the latest 10 records are kept. Each historical record includes the mechanical body SN code, controller SN code, mechanical body model, controller model, body parameter version number, controller software version number, data transmission time, transmission direction, and transmission result at the time of data transmission, used for parameter traceability or problem troubleshooting. The ontology parameters may also include extended reserved area parameters, which may include newly added extended parameters, i.e., the storage of newly added extended parameters or other data.

[0072] Step S02: Perform version matching based on controller parameters and system parameters.

[0073] It should be understood that version matching refers to the matching between the controller and the mechanical body. Version matching can include the matching of the mechanical body's software and hardware version with the controller's software and hardware version, and it can also include the matching between the servo parameters stored in the mechanical body and the servo parameters stored in the controller. Specifically, version matching can be performed based on the controller parameters stored in the controller and the mechanical body parameters stored in the mechanical body. For example, the mechanical body's software and hardware version can be obtained from the mechanical body parameters through the FPGA interface, and the controller's software and hardware version can be selected from the controller parameters. Then, the controller's software and hardware version in the controller parameters can be compared with the mechanical body's software and hardware version in the mechanical body parameters. If both versions support unordered matching, it means that the version matching is successful.

[0074] Step S03: When the version matching is successful, obtain the first parameter stored in the controller and the second parameter stored in the mechanical body.

[0075] Understandably, when version matching passes, it means that the mechanical body and the controller can perform unordered matching. At this time, the first parameter stored in the controller and the second parameter stored in the mechanical body can be obtained.

[0076] This embodiment obtains the controller parameters stored in the robot's controller and the body parameters stored in the robot's mechanical body when the controller is turned on. Then, it performs version matching between the controller and the mechanical body based on the controller parameters and body parameters. If the version matching is successful, it obtains the first parameter stored in the controller and the second parameter stored in the mechanical body. This embodiment, by obtaining the controller parameters stored in the robot's controller and the body parameters stored in the robot's mechanical body, and then performing version matching between the controller and the mechanical body based on the controller parameters and body parameters, indicates that the controller and the mechanical body can be matched, so that automatic matching between the mechanical body and the controller can be achieved subsequently based on the target parameters.

[0077] refer to Figure 5 , Figure 5 This is a flowchart illustrating the third embodiment of the matching method for the robot of the present invention.

[0078] Based on the first embodiment described above, in this embodiment, step S02 includes:

[0079] Step S021: Perform software and hardware checks on the controller and mechanical body based on the controller parameters and body parameters, and obtain the software and hardware check results.

[0080] Understandably, hardware and software checks refer to checking the hardware and software versions between the controller and the mechanical body to determine whether the controller and the mechanical body can support unordered matching.

[0081] Furthermore, in order to obtain accurate software and hardware inspection results, in this embodiment, step S021 includes: obtaining the target controller software and hardware version in the controller parameters and the target ontology software and hardware version in the ontology parameters; obtaining the initial controller software and hardware version and the initial ontology software and hardware version that support unordered matching; matching the initial controller software and hardware version and the target controller software and hardware version to obtain a controller matching result; matching the initial ontology software and hardware version and the target ontology software and hardware version to obtain an ontology matching result; and determining that the software and hardware inspection result is successful when both the controller matching result and the ontology matching result are successful.

[0082] It should be understood that, referring to Figure 6 , Figure 6 This is a schematic diagram illustrating parameter acquisition in an embodiment of the robot matching method of the present invention, as shown below. Figure 6 As shown, the controller loads the parameter file in the controller to obtain the controller's parameter information (denoted as parameter A). Simultaneously, the controller obtains the main body parameter information (denoted as parameter B) via the bus through the IRLINK master station in the FPGA and obtains the servo drive board parameters corresponding to the servo motor (denoted as parameter C) through the EtherCAT master station in the FPGA. By comparing parameter A, parameter B, and parameter C, the controller can perform version matching between the mechanical body and the controller. The PC can be the execution entity in this embodiment, capable of performing matching alarms, user confirmation, and matching display.

[0083] Understandably, the controller loads the built-in parameter file to obtain the target controller hardware and software version in the controller parameters, and the controller can read the target host hardware and software version in the host parameters through the FPGA interface.

[0084] In the specific implementation, initial controller hardware and software versions and initial body hardware and software versions that support unordered matching can be obtained. Multiple initial controller hardware and software versions and initial body hardware and software versions can be included. The initial body hardware and software versions are matched with the target body hardware and software version; that is, it is determined whether the initial body hardware and software version contains the target body hardware and software version. If so, the body matching result is considered successful. The initial controller hardware and software versions are also matched with the target controller hardware and software version; that is, it is determined whether the initial controller hardware and software version contains the target controller hardware and software version. If so, the controller matching result is considered successful. When both the controller matching result and the body matching result are successful, and it is determined that the controller hardware and software version and the body gyroscope hardware and software version support unordered matching, the hardware and software check result is considered successful. When either the controller hardware and software version or the body gyroscope hardware and software version does not support unordered matching, the controller does not issue an unordered matching request, and the body gyroscope can operate normally and acquire information such as the robot's speed and acceleration.

[0085] Step S022: Perform a power check on the controller and mechanical body based on the controller parameters and body parameters, and obtain the power check results.

[0086] It should be understood that power checking refers to comparing the servo drive board parameters in the controller parameters stored in the controller and the servo motor parameters in the body parameters stored in the mechanical body, and obtaining the power check result based on the difference between the servo drive board parameters and the servo motor parameters.

[0087] Furthermore, in order to obtain accurate power check results, in this embodiment, step S022 includes: obtaining the servo drive board parameters in the controller parameters and the servo motor parameters in the body parameters; matching the servo drive board parameters and the servo motor parameters to obtain parameter matching results; and determining that the power check result is a power check pass when the parameter matching result is a successful match.

[0088] It is understandable that the servo drive board parameters can be the aforementioned parameter C, and the servo motor parameters can be the aforementioned parameter B. Parameter B can be stored in the servo parameters in the model parameter storage area. Both the servo drive board parameters and the servo motor parameters can include power parameters, current parameters, voltage parameters, etc.

[0089] In practical implementation, the parameters of the servo drive board and the servo motor can be matched. Specifically, parameters of the same type in both the servo drive board and servo motor parameters can be matched. When all types of parameters match successfully, the power check result is determined to be successful. For example, if the difference between the power parameter in the servo drive board parameters and the power parameter in the servo motor parameters is less than a preset power difference, and the difference between the current parameter in the servo drive board parameters and the current parameter in the servo motor parameters is less than a preset current difference, the power check result is determined to be successful. If one type of parameter fails to match, the power check result is determined to be unsuccessful, indicating that the power requirement is not met. An alarm can be triggered, and the user can be prompted to replace the controller or mechanical body with a power-matched one until the power check result is successful.

[0090] Step S023: Perform parameter version checks on the controller and mechanical body based on the controller parameters and body parameters, and obtain the parameter version check results.

[0091] It should be understood that parameter version checking can be performed by matching the controller software version with the body parameter version, and the parameter version checking result is obtained based on the matching result.

[0092] Furthermore, in order to obtain accurate parameter version check results, in this embodiment, step S023 includes: obtaining the controller software version in the controller parameters and the body parameter version in the body parameters; obtaining the compatibility type between the controller software version and the body parameter version; determining whether the controller software version is compatible with the body parameter version based on the compatibility type; if so, determining that the parameter version check result is that the parameter version check has passed.

[0093] Understandably, the system can retrieve the controller software version from the controller parameters and the entity parameter version from the entity parameters. Then, it can determine the compatibility type between the two versions, which may include upward compatibility, backward compatibility, etc. Based on this compatibility type, it can determine whether the controller software version is compatible with the entity parameter version. For example, if the compatibility type is backward compatible, and the controller software version is 1.1 while the entity parameter version is 1.0, then the controller software version is compatible with the entity parameter version, and the parameter version check result is considered passed. If the controller software version is incompatible with the entity parameter version, an alarm can be triggered, and the entity parameter version can be uploaded, prompting the user to change the controller software version to the entity parameter version before resuming operation.

[0094] Step S024: If the software and hardware check result is "software and hardware check passed", the power check result is "power check passed", and the parameter version check result is "parameter version check passed", then the version matching is determined to be successful.

[0095] It should be understood that if the software and hardware check results are both passed, the power check results are both passed, and the parameter version check results are both passed, then the version matching can be considered successful.

[0096] In the specific implementation, refer to Figure 7 , Figure 7 This is a schematic diagram of the overall process of an embodiment of the matching method for the robot of the present invention. Figure 7As shown, the system first acquires the hardware and software information of the controller and the mechanical body for hardware and software checks. If the hardware and software checks fail, no alarm is triggered and the system functions normally. If the hardware and software checks pass, the system acquires the power information stored in the controller and the mechanical body for power checks. If the power checks fail, a power mismatch warning is displayed, prompting the user to replace the control cabinet or the mechanical body. If the power checks pass, the system acquires the mechanical body parameter version and the controller software version for parameter version checks. If the parameter version checks fail, an alarm is triggered, indicating that the versions are incompatible and require an upgrade or flashing. If the parameter version checks pass, the system acquires the model parameters stored in the controller and the mechanical body's gyroscope for parameter checks. If the parameter checks fail, an alarm is triggered, prompting the user to synchronize the mechanical body's model parameters to the controller and transmit the robot parameters. The direction of transmission determines whether a restart is required. If the parameter checks pass, the controller and the mechanical body function normally.

[0097] This embodiment performs hardware and software checks on the controller and mechanical body based on controller parameters and body parameters, obtaining hardware and software check results. Then, it performs a power check on the controller and mechanical body based on the controller and body parameters, obtaining a power check result. Next, it performs a parameter version check on the controller and mechanical body based on the controller parameters and body parameters, obtaining a parameter version check result. When the hardware and software check results are all passed, the power check results are all passed, and the parameter version check results are all passed, version matching is determined to be successful. This embodiment performs hardware and software checks, power checks, and parameter version checks sequentially based on controller parameters and body parameters. When the hardware and software check results are all passed, the power check results are all passed, and the parameter version check results are all passed, version matching is determined to be successful, effectively performing version matching and thus enabling subsequent parameter matching between the controller and the mechanical body.

[0098] Reference Figure 8 , Figure 8 This is a structural block diagram of the first embodiment of the matching device for the robot of the present invention.

[0099] like Figure 8 As shown, the robot matching device proposed in this embodiment of the invention includes:

[0100] The parameter acquisition module 10 is used to acquire the first parameter stored in the controller and the second parameter stored in the mechanical body of the robot during the operation of the robot.

[0101] The parameter selection module 20 is used to select a target parameter from the first parameter and the second parameter when the first parameter and the second parameter are inconsistent;

[0102] The robot's matching module 30 is used to transmit the target parameters between the controller and the mechanical body to perform parameter matching between the controller and the mechanical body.

[0103] This embodiment acquires a first parameter stored in the robot's controller and a second parameter stored in the robot's mechanical body during robot operation. When the first and second parameters are inconsistent, a target parameter is selected from the first and second parameters and then transmitted between the controller and the mechanical body to perform parameter matching between them. By acquiring the first parameter stored in the controller and the second parameter stored in the mechanical body, this embodiment enables the first and second parameters to be stored at both ends of the controller and the mechanical body, and transmits the target parameter between them. This ensures the accuracy of the parameters. Compared to existing methods that require the mechanical body and controller to be calibrated together, this embodiment can achieve automatic matching between the mechanical body and the controller based on the target parameter, simplifying the matching process, improving matching efficiency, and avoiding strong binding between the mechanical body and the controller.

[0104] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0105] In addition, for technical details not described in detail in this embodiment, please refer to the robot matching method provided in any embodiment of the present invention, which will not be repeated here.

[0106] Based on the first embodiment of the robot matching device of the present invention, a second embodiment of the robot matching device of the present invention is proposed.

[0107] In this embodiment, the matching device for the robot further includes a version matching module, which is used to obtain the controller parameters stored in the controller and the body parameters stored in the mechanical body of the robot when the controller in the robot is turned on; to perform version matching on the controller and the mechanical body according to the controller parameters and the body parameters; and to obtain the first parameter stored in the controller and the second parameter stored in the mechanical body when the version matching is successful.

[0108] Furthermore, the version matching module is also used to perform software and hardware checks on the controller and the mechanical body according to the controller parameters and the body parameters, and obtain software and hardware check results; perform power checks on the controller and the mechanical body according to the controller parameters and the body parameters, and obtain power check results; perform parameter version checks on the controller and the mechanical body according to the controller parameters and the body parameters, and obtain parameter version check results; and determine that version matching is successful when the software and hardware check result is successful, the power check result is successful, and the parameter version check result is successful.

[0109] Furthermore, the version matching module is also used to obtain the target controller software and hardware version in the controller parameters and the target ontology software and hardware version in the ontology parameters; obtain the initial controller software and hardware version and the initial ontology software and hardware version that support unordered matching; match the initial controller software and hardware version and the target controller software and hardware version to obtain a controller matching result; match the initial ontology software and hardware version and the target ontology software and hardware version to obtain an ontology matching result; and when the controller matching result is a successful match and the ontology matching result is a successful match, determine that the software and hardware check result is a successful software and hardware check.

[0110] Furthermore, the version matching module is also used to obtain the servo drive board parameters in the controller parameters and the servo motor parameters in the body parameters; match the servo drive board parameters and the servo motor parameters to obtain a parameter matching result; and when the parameter matching result is a successful match, determine that the power check result is a successful power check.

[0111] Furthermore, the matching module of the robot is also used to obtain the controller software version in the controller parameters and the body parameter version in the body parameters; obtain the compatibility type between the controller software version and the body parameter version; determine whether the controller software version is compatible with the body parameter version based on the compatibility type; if so, determine that the parameter version check result is that the parameter version check is passed.

[0112] Furthermore, the body parameters include: description information area parameters and model parameter storage area parameters; the description information area parameters include the body parameter version in the body parameters, and the model parameter storage area parameters include the second parameter and the servo motor parameters in the body parameters.

[0113] Other embodiments or specific implementations of the matching device for the robot of the present invention can be referred to the above-described method embodiments, and will not be repeated here.

[0114] Furthermore, embodiments of the present invention also propose a storage medium storing a robot matching program, wherein when the robot matching program is executed by a processor, it implements the steps of the robot matching method described above.

[0115] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0116] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0117] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0118] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A matching method for robots, characterized in that, The matching method for the robot includes the following steps: During the operation of the robot, the controller and the mechanical body are checked for software and hardware based on the controller parameters stored in the controller and the body parameters stored in the mechanical body, and the software and hardware check results are obtained. Based on the controller parameters and the body parameters, a power check is performed on the controller and the mechanical body to obtain the power check result; Based on the controller parameters and the body parameters, perform parameter version checks on the controller and the mechanical body to obtain parameter version check results; When the software and hardware check result is that the software and hardware check is passed, the power check result is that the power check is passed, and the parameter version check result is that the parameter version check is passed, it is determined that the version matching between the controller and the mechanical body is passed, and the first parameter stored in the controller and the second parameter stored in the mechanical body in the robot are obtained. When the first parameter and the second parameter are inconsistent, the target parameter is selected from the first parameter and the second parameter; The target parameters are transmitted between the controller and the mechanical body to perform parameter matching between the controller and the mechanical body.

2. The robot matching method as described in claim 1, characterized in that, The step of performing software and hardware checks on the controller and the mechanical body based on the controller parameters and the body parameters, and obtaining the software and hardware check results, specifically includes: Obtain the target controller software and hardware version from the controller parameters and the target ontology software and hardware version from the ontology parameters; Obtain the initial controller hardware and software version and the initial host hardware and software version that support out-of-order matching; The initial controller hardware and software version and the target controller hardware and software version are matched to obtain the controller matching result; The initial ontology software and hardware version and the target ontology software and hardware version are matched to obtain ontology matching results; When both the controller matching result and the body matching result are successful, the software and hardware check result is determined to be successful.

3. The robot matching method as described in claim 1, characterized in that, The step of performing a power check on the controller and the mechanical body based on the controller parameters and the body parameters, and obtaining the power check result, specifically includes: Obtain the servo drive board parameters from the controller parameters and the servo motor parameters from the body parameters; The parameters of the servo drive board and the parameters of the servo motor are matched to obtain the parameter matching result; When the parameter matching result is a successful match, the power check result is determined to be a successful power check.

4. The robot matching method as described in claim 1, characterized in that, The step of performing a parameter version check on the controller and the mechanical body based on the controller parameters and the body parameters, and obtaining the parameter version check result, specifically includes: Obtain the controller software version from the controller parameters and the body parameter version from the body parameters; Obtain the compatibility type between the controller software version and the ontology parameter version; Based on the compatibility type, determine whether the controller software version is compatible with the entity parameter version; If so, then the parameter version check result is confirmed as "parameter version check passed".

5. The matching method for robots as described in any one of claims 1 to 4, characterized in that, The body parameters include: description information area parameters and model parameter storage area parameters; the description information area parameters include the body parameter version in the body parameters, and the model parameter storage area parameters include the second parameter and the servo motor parameters in the body parameters.

6. A matching device for a robot, characterized in that, The matching device for the robot includes: The parameter acquisition module is used to perform software and hardware checks on the controller and the mechanical body based on the controller parameters stored in the controller and the body parameters stored in the mechanical body during the operation of the robot, and to obtain the software and hardware check results. Based on the controller parameters and the body parameters, a power check is performed on the controller and the mechanical body to obtain the power check result; Based on the controller parameters and the body parameters, perform parameter version checks on the controller and the mechanical body to obtain parameter version check results; When the software and hardware check result is that the software and hardware check is passed, the power check result is that the power check is passed, and the parameter version check result is that the parameter version check is passed, it is determined that the version matching between the controller and the mechanical body is passed, and the first parameter stored in the controller and the second parameter stored in the mechanical body in the robot are obtained. The parameter selection module is used to select a target parameter from the first parameter and the second parameter when the first parameter and the second parameter are inconsistent; The robot's matching module is used to transmit the target parameters between the controller and the mechanical body to perform parameter matching between the controller and the mechanical body.

7. A matching device for robots, characterized in that, The device includes: a memory, a processor, and a robot matching program stored in the memory and executable on the processor, the robot matching program being configured to implement the steps of the robot matching method as described in any one of claims 1 to 5.

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

Images